readOccupancyGrid

(To be removed) Read occupancy grid message

readOccupancyGrid will be removed in a future release. Use rosReadOccupancyGrid (ROS Toolbox) instead. For more information, see ROS Message Structure Functions.

Syntax

map = readOccupancyGrid(msg)

Description

map = readOccupancyGrid(msg) returns an occupancyMap object by reading the data inside a ROS message, msg, which must be a 'nav_msgs/OccupancyGrid' message. All message data values are converted to probabilities from 0 to 1. The unknown values (-1) in the message are set as 0.5 in the map.

Note

The msg input is an 'nav_msgs/OccupancyGrid' ROS message. For more info, see OccupancyGrid (ROS Toolbox).

Input Arguments

msg — 'nav_msgs/OccupancyGrid' ROS message

OccupancyGrid object handle

'nav_msgs/OccupancyGrid' ROS message, specified as an OccupancyGrid (ROS Toolbox) ROS message object handle.

Output Arguments

map — Occupancy map

occupancyMap object handle

Occupancy map, returned as an occupancyMap object handle.

Version History

Introduced in R2016b

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 (ROS Toolbox) rosWriteImage (ROS Toolbox)
LaserScan	readCartesian readScanAngles lidarScan plot	rosReadCartesian (ROS Toolbox) rosReadScanAngles (ROS Toolbox) rosReadLidarScan (ROS Toolbox) rosPlot (ROS Toolbox)
PointCloud2	apply readXYZ readRGB readAllFieldNames readField scatter3	rosApplyTransform (ROS Toolbox) rosReadXYZ (ROS Toolbox) rosReadRGB (ROS Toolbox) rosReadAllFieldNames (ROS Toolbox) rosReadField (ROS Toolbox) rosPlot (ROS Toolbox)
Quaternion	readQuaternion	rosReadQuaternion (ROS Toolbox)
OccupancyGrid	readBinaryOccupanyGrid readOccupancyGrid writeBinaryOccupanyGrid writeOccupanyGrid	rosReadOccupancyGrid (ROS Toolbox) rosReadBinaryOccupancyGrid (ROS Toolbox) rosReadOccupancyGrid (ROS Toolbox) rosWriteBinaryOccupancyGrid (ROS Toolbox) rosWriteOccupancyGrid (ROS Toolbox)
Octomap	readOccupancyMap3D	rosReadOccupancyMap3D (ROS Toolbox)
PointStamped PoseStamped QuaternionStamped Vector3Stamped TransformStamped	apply	rosApplyTransform (ROS Toolbox)
All messages	showdetails	rosShowDetails (ROS Toolbox)