Read occupancy grid message



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.


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Create a nav_msgs/OccupancyGrid ROS message.

msg = rosmessage('nav_msgs/OccupancyGrid');

Populate the ROS occupancy grid message with data.

msg.Info.Height = 10;
msg.Info.Width = 10;
msg.Info.Resolution = 0.1;
msg.Data = 100*rand(100,1);

Read the msg data and convert to an OccupancyGrid object.

map = readOccupancyGrid(msg);

Input Arguments

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

Output Arguments

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Occupancy map, returned as an occupancyMap object handle.

Introduced in R2016b