[r] Gradient of n colors ranging from color 1 and color 2

The above answer is useful but in graphs, it is difficult to distinguish between darker gradients of black. One alternative I found is to use gradients of gray colors as follows

palette(gray.colors(10, 0.9, 0.4))
plot(rep(1,10),col=1:10,pch=19,cex=3))

More info on gray scale here.

Added

When I used the code above for different colours like blue and black, the gradients were not that clear. heat.colors() seems more useful.

This document has more detailed information and options. pdf