Matlab Simulink capabilities with baxter（读取相机image）

1、前记：此文希望是个正式的开始吧，掉进坑里已经很久了。（以下是Google论坛15年出的一个Topic，讨论的人就留下以下话题）。

（Q):Hello all,

Matlab 2015b has recently added ROS blocks in the Robotics Systems toolbox. These libraries have publish and subscribe blocks as well as get_param and set_param blocks. We are interested in using these blocks in Simulink to implement custom controllers in real time. We are able to subscribe to /robot/ref_joint_states to get the position, velocity, and torque as well as Baxter's internal clock time. However we are now trying to publish torques to Baxter's joints using Baxter's torque control mode. Some of the issues we are experiencing are synchronizing sampling rate between Simulinks clock, and Baxter's subscribe and publish blocks. Also we are trying to figure out what topic to publish the torque values calculated in Simulink to. We thought we'd start this thread to see if anyone has looked into controlling Baxter through Matlab Simulink like we are attempting and if there are any tips or pointers.

Thanks

Naji

(A):（回答通信的问题） MATLAB与Baxter机器人通信---网络环境配置篇，https://ww2.mathworks.cn/matlabcentral/answers/434933-cannot-connect-to-ros-master-and-connect-my-baxter-robot中有提到。

Hi YSF,

Please take these steps:

1) Turn off your Antivirus software in the Windows Machine.

2) Specify the IP address and hostname of your robot in the hosts file (C:\Windows\System32\drivers\etc). For example:

192.168.1.3 YOURROBOTHOSTNAME

3) Verify that you can ping the robot by its hostname. In the MATLAB Command Window type:

>> !ping YOURROBOTHOSTNAME

You should be able to get data and control Baxter from MATLAB/Simulink now.

Carlos Santacruz-Rosero, Ph.D.（BaxterCommWithSim是他写的）