How to store ROS callback data in class properties?

Question

Alexandre Teixeira 2015-8-3

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/232191-how-to-store-ros-callback-data-in-class-properties

评论： AYKUT SIRMA 2022-8-26

采纳的回答： Sebastian Castro

在 MATLAB Online 中打开

Hello folks,

I am trying to store a callback data from ROS's topic called /scan in a properties (laser) of class that I created.

I got an error like this:

"No public field laser exists for class robotics.ros.Subscriber.

Error in MobileRobot/Callback_Laser (line 14) obj.laser = [message.Ranges];

Error in @(varargin)robot.Callback_Laser(varargin{:})

Error in robotics.ros.internal.onNewMessageCallback (line 44) feval(callbackFcn, source, message, userData{:});

Warning: Error occurred while evaluating listener callback."

Where is my mistake e how can I store a the callback data in a properties class?

Next the code class.

classdef MobileRobot < handle
  properties(Access = public)
      odom=[];
      laser = [];
  end
    methods(Access = public)
        function obj = MobileRobot()  % Constructor   
        end
        function  Callback_Laser(~, obj, message)
           % global laser
           % laser = [message.Ranges]; 
            obj.laser = [message.Ranges];
        end
    end
end

and the main code

 clear all;close all;clc;
 rosinit
 global rosMasterIp;
 rosMasterIp = 'http://192.168.0.113:11311';
 global localhostIp;
 localhostIp = '192.168.0.113';
 global robot;
 robot = MobileRobot();
 set_pose = robotics.ros.Node('getLaser',rosMasterIp,'NodeHost' , localhostIp);
 subs = rossubscriber('/scan',@robot.Callback_Laser);

Thank you!

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Answer 1

Sebastian Castro 2015-8-3

2
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/232191-how-to-store-ros-callback-data-in-class-properties#answer_188123

在 MATLAB Online 中打开

The issue here seems to be that the callback tied to rossubscriber is required to have 2 inputs "src" and "msg", where "src" is the subscriber itself and "msg" is the message received.

Notice that the way you have defined your Callback_laser method, "obj" isn't the instance of the class, but rather a reference to the subscriber... which, as the error message suggests, does not have a "laser" property.

Does it work if you change your method to be the following?

function  Callback_Laser(obj, src, message) 
  obj.laser = [message.Ranges];
end

- Sebastian

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Alexandre Teixeira 2015-8-4

It worked perfectly. I didn't see rossubscriber definition. Thank you.

AYKUT SIRMA 2022-8-26

To receive only the Axes and Buttons data readings from 'sensor_msgs/Joy' message, what do I need to do? I try to write a callback function to get these 'sensor_msgs/Joy' to access Axes and Buttons information and put them into an array to use. I will be very glad if you would guide me, thank you very much.

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