readOccupancyMap3D

(To be removed) Read 3-D map from Octomap ROS message

Since R2021a

readOccupancyMap3D will be removed in a future release. Use rosReadOccupancyMap3D (ROS Toolbox) instead. For more information, see ROS Message Structure Functions.

Syntax

map = readOccupancyMap3D(msg)

Description

map = readOccupancyMap3D(msg) reads the data inside a ROS 'octomap_msgs/Octomap' message to return an occupancyMap3D object. All message data values are converted to probabilities from 0 to 1.

Input Arguments

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`msg` — `Octomap` ROS message
structure

Octomap ROS message, specified as a structure of message type 'octomap_msgs/Octomap'. Get this message by subscribing to an 'octomap_msgs/Octomap' topic using rossubscriber (ROS Toolbox) on a live ROS network or by creating your own message using rosmessage (ROS Toolbox).

Output Arguments

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`map` — 3-D occupancy map
`occupancyMap3D` object handle

3-D occupancy map, returned as an occupancyMap3D object handle.

Version History

Introduced in R2021a

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R2021a: ROS Message Structure Functions

You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.

To support message structures as inputs, new functions that operate on specialized ROS messages have been provided. These new functions are based on the existing object functions of message objects, but support ROS and ROS 2 message structures as inputs instead of message objects.

The object functions will be removed in a future release.

Message Types	Object Function Name	New Function Name
`Image` `CompressedImage`	`readImage` `writeImage`	`rosReadImage` (ROS Toolbox) `rosWriteImage` (ROS Toolbox)
`LaserScan`	`readCartesian` `readScanAngles` `lidarScan` `plot`	`rosReadCartesian` (ROS Toolbox) `rosReadScanAngles` (ROS Toolbox) `rosReadLidarScan` (ROS Toolbox) `rosPlot` (ROS Toolbox)
`PointCloud2`	`apply` `readXYZ` `readRGB` `readAllFieldNames` `readField` `scatter3`	`rosApplyTransform` (ROS Toolbox) `rosReadXYZ` (ROS Toolbox) `rosReadRGB` (ROS Toolbox) `rosReadAllFieldNames` (ROS Toolbox) `rosReadField` (ROS Toolbox) `rosPlot` (ROS Toolbox)
`Quaternion`	`readQuaternion`	`rosReadQuaternion` (ROS Toolbox)
`OccupancyGrid`	`readBinaryOccupanyGrid` `readOccupancyGrid` `writeBinaryOccupanyGrid` `writeOccupanyGrid`	`rosReadOccupancyGrid` (ROS Toolbox) `rosReadBinaryOccupancyGrid` (ROS Toolbox) `rosReadOccupancyGrid` (ROS Toolbox) `rosWriteBinaryOccupancyGrid` (ROS Toolbox) `rosWriteOccupancyGrid` (ROS Toolbox)
`Octomap`	`readOccupancyMap3D`	`rosReadOccupancyMap3D` (ROS Toolbox)
`PointStamped` `PoseStamped` `QuaternionStamped` `Vector3Stamped` `TransformStamped`	`apply`	`rosApplyTransform` (ROS Toolbox)
All messages	`showdetails`	`rosShowDetails` (ROS Toolbox)

readOccupancyMap3D

Syntax

Description

Input Arguments

msg — Octomap ROS message structure

Output Arguments

map — 3-D occupancy map occupancyMap3D object handle

Version History

R2021a: ROS Message Structure Functions

See Also

`msg` — `Octomap` ROS message
structure

`map` — 3-D occupancy map
`occupancyMap3D` object handle