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

Asked by snow John on 11 Jan 2019
Latest activity Commented on by Hanlin Wang on 21 Feb 2019
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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1 Answer

Answer by Sebastian Castro on 11 Jan 2019
 Accepted 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.
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 Comments

Thanks to Mr. Sebastian Castro for your help.
The code works.
Wish you have a happy weekend!
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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