Alexandre Teixeira asked . 2023-05-04

How to store ROS callback data in class properties?

"No public field laser exists for class robotics.ros.Subscriber.

Error in MobileRobot/Callback_Laser (line 14) obj.laser = [message.Ranges];

Error in @(varargin)robot.Callback_Laser(varargin{:})

Error in robotics.ros.internal.onNewMessageCallback (line 44) feval(callbackFcn, source, message, userData{:});

classdef MobileRobot < handle
  properties(Access = public)
      odom=[];
      laser = [];
  end

    methods(Access = public)
        function obj = MobileRobot()  % Constructor   
        end

        function  Callback_Laser(~, obj, message)
           % global laser
           % laser = [message.Ranges]; 
            obj.laser = [message.Ranges];
        end
    end
end

and the main code

 clear all;close all;clc;
 rosinit

 global rosMasterIp;
 rosMasterIp = 'http://192.168.0.113:11311';

 global localhostIp;
 localhostIp = '192.168.0.113';

 global robot;
 robot = MobileRobot();

 set_pose = robotics.ros.Node('getLaser',rosMasterIp,'NodeHost' , localhostIp);
 subs = rossubscriber('/scan',@robot.Callback_Laser);

ros , robot operating Systems , Robotics and Autonomous Systems