picoScan100: Connect to MATLAB via Native ROS 2

System topology

picoScan100 runs an internal ROS 2 node and publishes point cloud data via DDS. MATLAB creates its own ROS 2 node and subscribes directly to the published topic. picoScan100 always operates on ROS_DOMAIN_ID=0.

Validated setup

Receiving PointCloud2 data via script

The MATLAB script below creates a ROS 2 node, lists all visible topics, and subscribes to /cloud/all_points. The callback prints the number of received points per message.

% Create ROS 2 node (Domain ID 0 is used automatically)
node = ros2node("/matlab_cloud_counter");

% List all available ROS 2 topics
disp("Available ROS 2 topics:");
disp(ros2("topic","list"));

% Create subscriber for picoScan100 point cloud
sub = ros2subscriber( ...
    node, ...
    "/cloud/all_points", ...
    "sensor_msgs/PointCloud2", ...
    @onPointCloud);

disp("Subscribed to /cloud/all_points");

% Process callbacks for 10 seconds
t0 = tic;
while toc(t0) < 10
    pause(0.1);
end

% Clean up
clear sub node
disp("Finished.");

function onPointCloud(msg)
    pointCount = double(msg.width) * double(msg.height);
    fprintf("PointCloud received: %d points\n", pointCount);
end

Using MATLAB ROS 2 Data Analyzer

Live visualization of the picoScan100 point cloud is possible using the MATLAB ROS 2 Data Analyzer app. No additional configuration is required when MATLAB is running in ROS Domain 0.

Connectivity check using ROS 2 CLI

Independent of MATLAB, the ROS 2 CLI can be used to verify that picoScan100 publishes point cloud data.

ros2 topic echo /cloud/all_points