While registering from my app I was sending OTP to the registered mobile number I want to retrieve that OTP in my app without opening SMS app...When the user received OTP me
You cannot access messages on ios and hence you cannot autofill the OTP in ios apps by reading sms.
The answers in the link that you have posted do not read the sms messages. They just create a custom url scheme and the otp is filled in when the user clicks the custom url in the sms.