Simulating multiple robots in Gazebo through MATLAB/Simulink

I am new to matlab/simulink and gazebo and am looking to set up a multiple robot gazebo environment. The examples provided in the website go through the multiple robot simulations (in warehouse environment) in simulink, but the simulations were not on Gazebo.

Any help would be highly appreciated.. Thank you

Answer 1

[Amrtanshu Raj]

Hi,

You can use gazebo co-simulation to get the desired Implementation. This document explains how to setup gazebo co-sim. This example shows how to simulate a Differential Drive Robot in Gazebo via Simulink

You can refer to this document for the functions and examples related to gazebo co-sim.

Hope this helps !!

[Sanyam Vyas]

These include examples for just one robot. Would you recommend adding two models within one simulink window to get multiple robots?

Also, would each robot have a different ip address? If so, how would I be able to have two ip addresses within one virtual machine?

[Amrtanshu Raj]

No, you do not need 2 ip addresses. You will be having different topics for each robot. You can publish on each of the topic to get the desired results. It won't be a problem adding more than 1 robot to same gazebo world and simulating it from same simulink model.

For eg - robot1/left_wheel and robot2/left_wheel. Applying torque on first will move the first robot and on second will move the second robot.