www.gusucode.com > Toyota Human Support Robot (HSR) Examples 程序工具箱matlab源码 > Toyota Human Support Robot (HSR) Examples/MATLAB_HSR_Examples/01_armControl/armControl_topic.m

    % Example: Moving the arm using ROS topic

% initialize ROS publisher
pub = rospublisher('/hsrb/arm_trajectory_controller/command');

% fill ROS message
traj = rosmessage(pub);
traj.JointNames = {'arm_lift_joint', 'arm_flex_joint', ...
                    'arm_roll_joint', 'wrist_flex_joint', 'wrist_roll_joint'};
p1 = rosmessage('trajectory_msgs/JointTrajectoryPoint');
p1.Positions = [0.2, -0.5, 0, 0, 0];
p1.Velocities = [0, 0, 0, 0, 0];
p1.TimeFromStart = rosduration(3);
p2 = rosmessage('trajectory_msgs/JointTrajectoryPoint');
p2.Positions = [0, 0, 0, 0, 0];
p2.Velocities = [0, 0, 0, 0, 0];
p2.TimeFromStart = rosduration(6);
traj.Points = [p1; p2];


% publish ROS message
send(pub,traj);

% Copyright 2018 The MathWorks, Inc.