How to publish image to ROS in Simulink

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Kun Yan 2018-6-11

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https://ww2.mathworks.cn/matlabcentral/answers/405020-how-to-publish-image-to-ros-in-simulink

评论： Syed Adil Ahmed 2020-10-21

I use the function writeImage() in matlab function to write a MATLAB image to the ROS image message，but when I run the simulink model, an error appears: Undefined function or variable 'writeImage'. How to solve this problem? How to publish image to ROS in Simulink?

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回答（1 个）

JAI PRAKASH 2018-11-4

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/405020-how-to-publish-image-to-ros-in-simulink#answer_345136

在 MATLAB Online 中打开

PubImage.zip

If your matlab image is 'RGB' matrix, you can use following matlab function block + Bus assignment block as shown in figure.

function [H, W, Enc, EncLength, IsBig, Step, Data, DataLength] = fcn(im)
  [H, W, n] = size(im);
  H =uint32(H); W =uint32(W);
  im = permute(im,[2 1 3]);
  Data1 = im(:);
  Data2 = reshape(Data1,[H*W,n])';
  Data = Data2(:);
  Enc = zeros(1,128, 'uint8');
  Enc(1:4) = uint8('rgb8'); %   uint8('rgb8')
  EncLength = uint32(4);
  IsBig = uint8(0);
  Step = uint32(W*n);
  DataLength = uint32(H*W*n);

See the attached simulink readymade block also to convert MAT image to ros image message.

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Pavan Anandareddy 2020-9-17

Hi,

Were you able to solve this error?

Syed Adil Ahmed 2020-10-21

For those interested you can fix the non matching size of the Data bus variable by changing array sizes in Simulink for ros. This option is under tools> ROS in simulink.

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