How to use MATLAB open the baxter robot's cameras？

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snow John
snow John 2019-1-11
评论： Hanlin Wang 2019-2-21
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!

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采纳的回答

Sebastian Castro
Sebastian Castro 2019-1-11
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
  2 个评论
snow John
snow John 2019-1-12
Thanks to Mr. Sebastian Castro for your help.
The code works.
Wish you have a happy weekend！
Hanlin Wang
Hanlin Wang 2019-2-21
hi, I have a question about how to open camera with ubuntu.
this code only can take picture but I want to see the image before I take pictures
best wishes

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