matlab message,Create ROS messages

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 use ROS messages as structures, use the "DataFormat" name-value

argument when creating your publishers, subscribers, or other ROS objects. Any messages

generated from these objects will utilize structures.

pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat","struct")

msg = rosmessage(pub)

You can also create messages as structures directly, but make sure to specify the data

format as "struct" for the publisher, subscriber, or other ROS objects as

well. ROS objects still use message objects by default.

msg = rosmessage("/scan","sensor_msgs/LaserScan","DataFormat","struct")

...

pub = rospublisher("/scan","sensor_msgs/LaserScan","DataFormat","struct")

In a future release, ROS messages will use structures by default and ROS message objects

will be removed.