We are trying to read 2D laser scanner data from MATLAB via remote api.

We checked out the following post and managed to get laser scanner data (a 1xnumber_of_points matrix) to MATLAB with the code given below; however, we could not make any sense out of it.

We guess that the data is in the form of x,y,z coordinates for each laser point but we are not sure about evaluating/parsing the data matrix.

Is it with respect to robot coordinate frame or sensor coordinate frame?

viewtopic.php?f=9&t=1535

Code: Select all

`Matlab Code:`

[returnCode,signal] = vrep.simxGetStringSignal(clientID,'measuredDataAtThisTime',vrep.simx_opmode_buffer);

if(vrep.simx_return_ok == returnCode)

data=vrep.simxUnpackFloats(signal);

Aside from this issue, is there a way to represent occupancy grid maps in V-REP?

Thank you in advance,