Error in rosReadBinaryOccupancyGrid
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Hello I'm trying to subscribe /map topic from ROS and make occupancy map in simulink
So I use subscribe block in Simulink and connect msg to MATLAB function block.
the code of MATLAB function block is below
function fcn(u)
map = rosReadBinaryOccupancyGrid(u);
show(map)
end
But there is an error
This structure does not have a field 'MessageType'. Function 'rosReadBinaryOccupancyGrid.m'(#222.2006.2009)
Is there any solution or another way to plot occupancy map in simulink?
采纳的回答
Josh Chen
2023-9-30
0 个投票
Hi SEUNGSHIN,
Thanks for bringing this use case to our attention. As for now, there is no Simulink block for reading binary occupancy grid. We will consider to provide this functionality in a future release.
Meanwhile, as a workaround, you can use a combination of "MATLAB Function" and "Video Viewer" block to plot occupancy map in Simulink.
Here is the script in MATLAB function block for your reference:
function y = fcn(u)
% Specify the expected dimension of the occupancyMatrix
y = zeros(10,10,'logical');
dataLen = u.Data_SL_Info.CurrentLength;
if dataLen>0
% Create MATLAB message
msg = rosmessage("nav_msgs/OccupancyGrid","DataFormat","struct");
% Assign message fields based on input Simulink message bus
msg.Info.Height = u.Info.Height;
msg.Info.Width = u.Info.Width;
msg.Info.Resolution = u.Info.Resolution;
msg.Data = u.Data(1:dataLen);
% Use rosReadBinaryOccupancyGrid to read occupancy grid
map = rosReadBinaryOccupancyGrid(msg);
% output occupancyMatrix
occupancyMatrix = map.occupancyMatrix;
y = occupancyMatrix(1:10,1:10);
end
Hope that helps,
Thanks,
Josh
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