Creating Pointcloud ROS message in Simulink

Question

Gibin Joe Zachariah 2019-11-1

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/488771-creating-pointcloud-ros-message-in-simulink

回答： Cam Salzberger 2020-1-15

Hi,

I have a pointcloud data stream where at each time step i have three variables X,Y,Z each of size 160x320 corresponding to the XYZ coordinates or 160*320 points. I would like to create a pointcloud ros message and publish it. Can anyone tell me a method to do it in Simulink?. I tried the following code using saved data for one time step but it takes too much time.

strmsg=rosmessage('sensor_msgs/PointCloud');
tempmsg=rosmessage('geometry_msgs/Point32');
count=1;
for i=1:160
    for j=1:320
       
        tempmsg.X=x_data(i,j);
        tempmsg.Y=y_data(i,j);
        tempmsg.Z=z_data(i,j);
        strmsg.Points(count)=tempmsg;
        count=count+1;
    end
end

Edit: I tried to use for each subsystems and bus assignments to achieve the same in Simulink as shown below. But when viewing the data from ROS, I dont see any values in the Points field of Pointcloud message. Am I doing it correctly?