rosmatlab subscriber synchronization with Main Thread

asked 2015-01-27 23:37:52 -0500

Jarvis gravatar image

updated 2015-02-04 19:44:09 -0500


I am using rosmatlab to read Lidar data published bu urg_node in Matlab.

  urg_scan = rosmatlab.subscriber('/scan', 'sensor_msgs/LaserScan', 1, node);

readScanData is a function which reads as follows:

function readScanData(msg)
      sensor_data = msg.getRanges();
      vectRangeData = sensor_data;

vectRangeData is a global variable which I used in Matlab Main Thread to analyses Lidar data. My question is how to synchronizes the access to global variable "vectRangeData"?

As I understand callback function will be run in separate java thread using rosjava jars. After following link:matlab undocumented and inputs from senior developer I think they are using eval or feval functions to execute callback functions under subcriber threads. Still it confused me how to synchronize the access to global vars. I am not using Parallel Computing toolbox. Its just some objects shared between Matlab's Main Thread and Java Threads.

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