MATLAB: How to use MATLAB open the baxter robot’s cameras？

baxter robotcameraMATLABros

Hello guys,i have try use the follow codes to control the baxter robot,and its works.
rosshutdown;
rosinit('011602P0019.local','NodeHost','192.168.1.128');
%%


pub1=rospublisher('/robot/limb/left/joint_command');
Msg1=rosmessage('baxter_core_msgs/JointCommand');
%%
showdetails(Msg1)
%%
while true
command=[0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0.0];
names=[{'left_w0'}, {'left_w1'}, {'left_w2'}, {'left_e0'}, {'left_e1'}, {'left_s0'}, {'left_s1'}]; 
mode=1; 
Msg1.Command=int64(command);
Msg1.Mode=int32(1); 
Msg1.Names=(names); 
send(pub1,Msg1);
end
so i try to use the same way to open the camera ,but i don't know the details,can someone help me .
i will appreciate your kindness help!
Best wishes!

Best Answer

The joint commands require publishing to the topic, as it's actuators. Cameras are sensors, so they would require subscribing to the camera topic and receiving images.
The Baxter camera topics are as shown here: https://github.com/RethinkRobotics/sdk-docs/wiki/API-Reference#cameras
So MATLAB code to display the cameras would be something like:
imgSub = rossubscriber('/cameras/head_camera/image');
imgMsg = receive(imgSub); % or imgMsg = imgSub.LatestMessage
img = readImage(imgMsg);
imshow(img);
Hope this helps.
- Sebastian
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