Gazebo Co-Simulation

High fidelity simulation using co-simulation

Create high-fidelity simulations by interfacing with Gazebo MATLAB^® functions and Simulink^® blocks.

Functions

Fixed-Rate Execution

`rateControl`	Execute loop at fixed frequency
`statistics`	Statistics of past execution periods
`waitfor`	Pause code execution to achieve desired execution rate
`reset`	Reset `Rate` object

Gazebo Co-Simulation

`gzinit`	Initialize connection settings for Gazebo Co-Simulation MATLAB interface (Since R2021a)
`gzlink`	Assign and retrieve Gazebo model link information (Since R2021a)
`gzjoint`	Assign and retrieve Gazebo model joint information (Since R2021a)
`gzmodel`	Assign and retrieve Gazebo model information (Since R2021a)
`gzworld`	Interact with Gazebo world (Since R2021a)
`gazebogenmsg`	Generate dependencies for Gazebo custom message support (Since R2020b)
`packageGazeboPlugin`	Create Gazebo plugin package for Simulink (Since R2020b)

Blocks

Gazebo Apply Command	Send command to Gazebo simulator (Since R2019b)
Gazebo Blank Message	Create blank Gazebo command (Since R2019b)
Gazebo Pacer	Settings for synchronized stepping between Gazebo and Simulink (Since R2019b)
Gazebo Read	Receive messages from Gazebo server (Since R2019b)
Gazebo Publish	Send custom messages to Gazebo server (Since R2020b)
Gazebo Subscribe	Receive custom messages from Gazebo server (Since R2020b)
Gazebo Select Entity	Select a Gazebo entity (Since R2019b)

Topics

Gazebo Simulation for Robotics System Toolbox
Learn how to use robotics algorithms in MATLAB and Simulink and visualize their performance in a virtual environment using the Gazebo simulator.
Gazebo Simulation Environment Requirements and Limitations
When simulating in the Gazebo environment, keep these software requirements, minimum hardware recommendations, and limitations in mind.
How Gazebo Simulation for Robotics System Toolbox Works
Learn about the co-simulation framework between MATLAB and Simulink and the Gazebo simulator.
Run and Connect to Multiple Gazebo Sessions from Simulink
This example shows how to run multiple Gazebo sessions in a virtual machine (VM) and connect to these sessions simultaneously from Simulink® using the parsim (Simulink) function.
Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot
Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.

Featured Examples

Perform Co-Simulation Between Simulink and Gazebo

Set up a synchronized simulation between Simulink™ and Gazebo to send commands and receive data from Gazebo.

Open Live Script

Control Differential Drive Robot in Gazebo with Simulink

Control a differential drive robot in Gazebo co-simulation using Simulink®. The robot follows a set of waypoints by reading the pose and wheel encoder positions and generates torque-control commands to drive it.

Open Live Script

Control Manipulator Robot with Co-Simulation in Simulink and Gazebo

Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo. The example uses Simulink™ to model the robot behavior, generate control commands, send these commands to Gazebo, and control the pace of the Gazebo simulation.

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Sign Following Robot with Time Synchronization Using ROS and Gazebo Co-Simulation

Use Simulink® to enable synchronized simulation between ROS and the Gazebo robot simulator using the Gazebo Pacer block.

Open Live Script