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Write A ROS Point Cloud Message In Simulink®

This example shows how to write a point cloud message and publish it to a ROS network in Simulink®.

Start a ROS network.

Launching ROS Core...
Done in 0.82243 seconds.
Initializing ROS master on
Initializing global node /matlab_global_node_85632 with NodeURI http://dcc333641glnxa64:43933/ and MasterURI http://localhost:56475.

Load the 3D coordinate locations and color data for the sample point cloud. Create a subscriber to receive a ROS PointCloud2 message from the /point_cloud topic. Specify the message type as sensor_msgs/PointCloud2 and the data format as a struct.

sub = rossubscriber("/point_cloud","sensor_msgs/PointCloud2",DataFormat="struct");

Open the Simulink® model for writing a ROS point cloud message and publishing it to a ROS network.


Ensure that the Publish block is publishing to the /point_cloud topic. Under the Simulation tab, select ROS Toolbox > Variable Size Arrays and verify the Data array has a maximum length greater than the length of the Data field in ptcloud (9,830,400).

The model writes the color and location data to a ROS point cloud message. Using a Header Assignment block, the frame ID of the message header is set to /camera_rgb_optical_frame.

Run the model to publish the message.


The point cloud message is published to the ROS network and received by the subscriber created earlier. Visualize the point cloud with the rosPlot function. rosPlot automatically extracts the x-, y-, and z- coordinates and shows them in a 3-D scatter plot. The rosPlot function ignores points with NaN values for coordinates regardless of the presence of color values at those points.


Close the model and shut down the ROS network.

Shutting down global node /matlab_global_node_85632 with NodeURI http://dcc333641glnxa64:43933/ and MasterURI http://localhost:56475.
Shutting down ROS master on