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

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!

Answer 1

[Sebastian Castro]

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

[snow John]

Thanks to Mr. Sebastian Castro for your help.

The code works.

Wish you have a happy weekend！

[Hanlin Wang]

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