Revision history [back]

Fluid simulation is not yet implemented in Gazebo. But, you can use some mini objects(just like coal) to move through a pipe. The movement of those objects can be controlled by applying force through setforce utility

SetForce(0,force_value);

and the position of the control valve can be controlled through setposition utility

SetPosition(index,position);

All you have to do is two things: 1.) Create models as per your wish. 2.) Create a Gazebo node which uses your SDF(or URDF) content to control the objects. Please look at the this page for detailed information. Keep on update us about your progress.

(Additional tips: -Make a Gazebo valve model with bonnet,body as a separate link and valve plug as another link. Make joint connection between them -Try using Gazebo7 which has model editor which will ease your job)