writeBinaryOccupancyGrid

Write values from grid to ROS message

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Syntax

writeBinaryOccupancyGrid(msg,map)

Description

writeBinaryOccupancyGrid(msg,map) writes occupancy values and other information to the ROS message, msg, from the binary occupancy grid, map.

Examples

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This example uses:

Open Live Script

Create occupancy grid and message. Write the map onto the message.

map = binaryOccupancyMap(randi([0,1], 10));
msg = rosmessage('nav_msgs/OccupancyGrid');
writeBinaryOccupancyGrid(msg, map);

Input Arguments

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Binary occupancy grid, specified as a binaryOccupancyMap object handle. map is converted to a 'nav_msgs/OccupancyGrid' message on the ROS network. map is an object with a grid of binary values, where 1 indicates an occupied location and 0 indications an unoccupied location.

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

See Also

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Introduced in R2015a

Navigation Toolbox Documentation

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