%Connect to Remote Machine
ip="Your IP Address";
rosinit(ip);
%Command Velocity Publisher
robotCmd = rospublisher("/cmd_vel","DataFormat","struct") ;
velMsg = rosmessage(robotCmd);
%Camera Subscriber
img_sub = rossubscriber("/camera/rgb/image_raw","DataFormat","struct");
%Publish a constant angular velocity
velMsg.Angular.Z=0.5;
send(robotCmd,velMsg);
% Start timer
tic;
figure
while toc < 20
%Image
im = receive(img_sub);
image = rosReadImage(im);
imshow(image);
end
velMsg.Angular.Z=0.0;
send(robotCmd,velMsg);
rosshutdown;
disp("Network Shutdown");
