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/03_gripperControl/gripperControl_topic.m

    % Example: Control the grippers using ROS topic

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

% fill ROS message
traj = rosmessage(pub);
traj.JointNames = {'hand_motor_joint'};
p1 = rosmessage('trajectory_msgs/JointTrajectoryPoint');
p1.Positions = [0.5];
p1.Velocities = [0];
p1.Effort = [0.1];
p1.TimeFromStart = rosduration(3);
traj.Points = [p1];

% publish ROS message
send(pub,traj);

% Copyright 2018 The MathWorks, Inc.