simulink model as GAZEBO plugin

Hello all

Is it possible to connect simulink to gazebo as a plugin ? for example if i like to model a nonlinear spring using simulink and include it as part of my robot ?

Does anyone have an idea if and how it can be done ?

thanks

Asked by dmeltz on 2014-11-09 10:19:33 UTC

Comments

Are you talking about having your model running in simulink, communicating with Gazebo somehow in real-time, or do you want to create a Gazebo plugin using code from simulink? Both are probably possible (with some work), but the approaches are different.

Asked by gvdhoorn on 2014-11-09 12:11:35 UTC

Answers

For the first approach (communicating with Gazebo in (simulated) real-time), see Football Table Simulation Visualization Tool for instance. This uses a shared-memory plugin in Gazebo and a set of Simulink blocks to synchronise Gazebo and the controller in time, and to exchange data between the two. See Feedback control of gazebo with simulink over shared memory for a video of it in action.

Asked by gvdhoorn on 2014-11-09 12:21:38 UTC

Comments

http://uk.mathworks.com/matlabcentral/fileexchange/44853-use-matlab-ros-i-o-package-to-interact-with-the-turtlebot-simulator-in-gazebo

This might help.

Asked by Quadrobo on 2014-12-11 10:00:14 UTC