Hello Abirami,
If you are broadcasting the point cloud data over the ROS network already, then you can simply create a rossubscriber and a pcplayer, set up something like this:
rosinit(<masterURI>)
player = pcplayer(<map limits>);
pcSub = rossubscriber(<point cloud topic>, "sensor_msgs/PointCloud2", ...
"DataFormat", "struct", ...
"NewMessageFcn", @(~, msg) processLidarMsg(msg, player)
function processLidarMsg(msg, player)
xyz = rosReadXYZ(msg);
rgb = rosReadRGB(msg);
view(player, xyz, rgb)
end
This code makes several assumptions about the type of the point cloud message and the structure of its fields (as well as your release of MATLAB). But it can serve as a starting point for your code.
If you are working with velodyne_msgs/VelodyneScan instead of sensor_msgs/PointCloud2, check out this documentation.
-Cam
