Gazebo Co-Simulation

High fidelity simulation using co-simulation

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

Functions

`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

`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
`packageGazeboPlugin`	Create Gazebo plugin package for Simulink

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

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
Run multiple Gazebo sessions in a virtual machine (VM) and connect to these sessions simultaneously from Simulink using the parsim function.
Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot
Set up UR10 robot model for co-simulation between Gazebo and Simulink, enabling direct connection and control over model simulation pacing.

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

Control the Pioneer differential drive robot in Gazebo co-simulation using Simulink.

Control a robotic manipulator through co-simulation between Simulink and Gazebo, to model robot behavior and control Gazebo simulation pace.

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