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

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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!

Accepted Answer

Sebastian Castro
Sebastian Castro on 11 Jan 2019
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
Hanlin Wang
Hanlin Wang on 21 Feb 2019
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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