MATLAB Answers

How to get an array from a Rosbag

조회 수: 14(최근 30일)
Paolino De Risi
Paolino De Risi 2021년 9월 16일 17:48
댓글: Cam Salzberger 2021년 9월 17일 16:37
Hi, I'm trying to plot a data from a rosbag, here what i did until now:
This struct is a 19153x1 cell and each element is a 1x1 struct with a velocity record, a 2x1 array.
Now, what i need is to create 1 column array with each wh_gazStruct.Velocity first element, but I can't find a solution. Until now I tryed:
wh_gaz_mat=cellfun(@(m) double(m.Velocity),wh_gazStruct);
but since the .Velocity record has two elements it doesn't work. How may I solve my problem?


Cam Salzberger
Cam Salzberger 2021년 9월 16일 18:36
I provided some guidance and sample code to a similar question here. That should help get you moving in the right direction!
  댓글 수: 2
Cam Salzberger
Cam Salzberger 2021년 9월 17일 16:37
Well, I don't know exactly what your messages look like. But if I set up my messages like this (to simulate using readMessages with DataFormat='struct'):
msg = rosmessage('sensor_msgs/JointState', 'DataFormat', 'struct');
n = 4;
msgs = cell(n, 1);
for k = 1:n
msgs{k} = msg;
msgs{k}.Velocity = [k ; -k];
Then I can do this:
[wh1, wh2] = cellfun(@getwheelsvelocities, msgs);
with your code as-provided, and it works just fine.
If you have any messages that do not have two entries in the Velocity field, then this code will fail.

댓글을 달려면 로그인하십시오.




Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by