readOccupancyGrid

(To be removed) Read occupancy grid message

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

Syntax

map = readOccupancyGrid(msg)

Description

map = readOccupancyGrid(msg) returns an occupancyMap (Navigation Toolbox) 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.

Input Arguments

msg — 'nav_msgs/OccupancyGrid' ROS message

OccupancyGrid object handle

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

Output Arguments

map — Occupancy map

occupancyMap object handle

Occupancy map, returned as an occupancyMap (Navigation Toolbox) 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 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