Load Octomap ROS messages and read them into MATLAB® as an OccupancyMap3D object.

Load the Octomap ROS messages. The Octomap map messages were previously recorded in a rosbag and read into MATLAB® as ROS message objects. You could also get these ROS messages live on a network.

load octomap_msgs
disp(octomapMsgs{1})

  ROS Octomap message with properties:

    MessageType: 'octomap_msgs/Octomap'
         Header: [1x1 Header]
         Binary: 0
             Id: 'OcTree'
     Resolution: 0.0500
           Data: [1175340x1 int8]

  Use showdetails to show the contents of the message

Read the data from the ROS messages into an occupancyMap3D object. Display each map.

for i = 1:length(octomapMsgs)
    msg = octomapMsgs{i};
    map{i} = readOccupancyMap3D(msg);
    figure
    show(map{i});
end