readScanAngles

(To be removed) Return scan angles for laser scan range readings

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

Syntax

angles = readScanAngles(scan)

Description

angles = readScanAngles(scan) calculates the scan angles, angles, corresponding to the range readings in the laser scan message, scan. Angles are measured counterclockwise around the positive z-axis, with the zero angle along the x-axis. The angles is returned in radians and wrapped to the [ –pi, pi] interval.

Examples

Read Scan Angles from ROS Laser Scan Message

Load sample ROS messages including a ROS laser scan message, scan.

exampleHelperROSLoadMessages

Read the scan angles from the laser scan.

angles = readScanAngles(scan)

angles = 640×1

   -0.5467
   -0.5450
   -0.5433
   -0.5416
   -0.5399
   -0.5382
   -0.5364
   -0.5347
   -0.5330
   -0.5313
      ⋮

Input Arguments

scan — Laser scan message

LaserScan object handle

'sensor_msgs/LaserScan' ROS message, specified as a LaserScan object handle.

Output Arguments

angles — Scan angles for laser scan data

n–by–1 matrix in radians

Scan angles for laser scan data, returned as an n-by-1 matrix in radians. Angles are measured counter-clockwise around the positive z-axis, with the zero angle along the x-axis. The angles is returned in radians and wrapped to the [ –pi, pi] interval.

Version History

Introduced in R2019b

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