MATLAB

Compatible with: picoScan100

MATLAB ROS Toolbox can subscribe directly to the picoScan100 native ROS 2 node through DDS. No SICK ROS driver or bridge is required. The picoScan100 publishes point-cloud data on /cloud/all_points as sensor_msgs/PointCloud2 and always uses ROS domain ID 0.

Validated setup

Component	Version / setting
Operating system	Windows 11
MATLAB	R2025b with ROS Toolbox
ROS 2 / DDS	Kilted with CycloneDDS
ROS domain ID	0 (fixed by picoScan100)

All DDS participants must use domain ID 0. Ensure that the sensor's native ROS 2 interface is enabled and that the computer firewall allows DDS traffic. See Native ROS 2 for sensor-side setup.

Receive PointCloud2 data

The following script creates a MATLAB ROS 2 node, lists visible topics, and prints the number of points received on /cloud/all_points.

node = ros2node("/matlab_cloud_counter");

disp("Available ROS 2 topics:");
disp(ros2("topic", "list"));

sub = ros2subscriber( ...
    node, ...
    "/cloud/all_points", ...
    "sensor_msgs/PointCloud2", ...
    @onPointCloud);

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

t0 = tic;
while toc(t0) < 10
    pause(0.1);
end

clear sub node
disp("Finished.");

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

Visualize live data

Open Apps > ROS 2 Data Analyzer, choose Open > Live Network Data, select Live ROS 2 network data, and set the ROS domain ID to 0. Create a PointCloud Visualizer, choose /cloud/all_points, then select Start.

Verify connectivity

Use the ROS 2 CLI independently of MATLAB to verify that DDS data is present:

ros2 topic echo /cloud/all_points

If no data is visible, confirm the native ROS 2 interface configuration, firewall rules, DDS compatibility, and ROS domain ID. The picoScan100 domain ID cannot be changed.