readOccupancyMap3D

(To be removed) Read 3-D map from Octomap ROS message

Since R2021a

readOccupancyMap3D will be removed in a future release. Use rosReadOccupancyMap3D instead. For more information, see ROS Message Structure Functions.

Syntax

map = readOccupancyMap3D(msg)

Description

map = readOccupancyMap3D(msg) reads the data inside a ROS 'octomap_msgs/Octomap' message to return an occupancyMap3D (Navigation Toolbox) object. All message data values are converted to probabilities from 0 to 1.

Input Arguments

msg — Octomap ROS message

structure

Octomap ROS message, specified as a structure of message type 'octomap_msgs/Octomap'. Get this message by subscribing to an 'octomap_msgs/Octomap' topic using rossubscriber on a live ROS network or by creating your own message using rosmessage.

Output Arguments

map — 3-D occupancy map

occupancyMap3D object handle

3-D occupancy map, returned as an occupancyMap3D (Navigation Toolbox) object handle.

Version History

Introduced in R2021a

R2021a: ROS Message Structure Functions

You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.

To support message structures as inputs, new functions that operate on specialized ROS messages have been provided. These new functions are based on the existing object functions of message objects, but support ROS and ROS 2 message structures as inputs instead of message objects.

The object functions will be removed in a future release.

Message Types	Object Function Name	New Function Name
Image CompressedImage	readImage writeImage	rosReadImage rosWriteImage
LaserScan	readCartesian readScanAngles lidarScan plot	rosReadCartesian rosReadScanAngles rosReadLidarScan rosPlot
PointCloud2	apply readXYZ readRGB readAllFieldNames readField scatter3	rosApplyTransform rosReadXYZ rosReadRGB rosReadAllFieldNames rosReadField rosPlot
Quaternion	readQuaternion	rosReadQuaternion
OccupancyGrid	readBinaryOccupanyGrid readOccupancyGrid writeBinaryOccupanyGrid writeOccupanyGrid	rosReadOccupancyGrid rosReadBinaryOccupancyGrid rosReadOccupancyGrid rosWriteBinaryOccupancyGrid rosWriteOccupancyGrid
Octomap	readOccupancyMap3D	rosReadOccupancyMap3D
PointStamped PoseStamped QuaternionStamped Vector3Stamped TransformStamped	apply	rosApplyTransform
All messages	showdetails	rosShowDetails