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Gazebo Simulation for Robotics System Toolbox

Robotics System Toolbox™ provides a co-simulation framework that enables you to use robotics algorithms in MATLAB® and Simulink® and visualize their performance in a virtual simulation environment. This environment uses the Gazebo Simulator. For more details on the simulation environment, see How Gazebo Simulation for Robotics System Toolbox Works.

This simulation tool is commonly used to supplement real data when developing, testing, and verifying the performance of robotics algorithms.

Gazebo Co-Simulation Blocks

The Robotics System Toolbox > Gazebo Co-Simulation block library contains Simulink blocks related to the simulation environment. To view the library, at the MATLAB command prompt, enter robotgazebolib.

Gazebo co-simulation simulink blocks

BlockDescription
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 Co-Simulation Functions

These are the MATLAB functions related to the simulation environment.

FunctionDescription
gzinit

Initialize connection settings for Gazebo Co-Simulation MATLAB interface

gzjoint

Assign and retrieve Gazebo model joint information

gzlink

Assign and retrieve Gazebo model link information

gzmodel

Assign and retrieve Gazebo model information

gzworld

Interact with Gazebo world

gazebogenmsg

Generate dependencies for Gazebo custom message support

packageGazeboPlugin

Create Gazebo plugin package for Simulink

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