ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

simulink model as GAZEBO plugin

asked 2014-11-09 09:19:33 -0500

dmeltz gravatar image

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 ?


edit retag flag offensive close merge delete


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.

gvdhoorn gravatar image gvdhoorn  ( 2014-11-09 11:11:35 -0500 )edit

2 Answers

Sort by ยป oldest newest most voted

answered 2014-12-11 09:00:14 -0500

Quadrobo gravatar image
edit flag offensive delete link more

answered 2014-11-09 11:21:38 -0500

gvdhoorn gravatar image

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.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2014-11-09 09:19:33 -0500

Seen: 1,104 times

Last updated: Nov 09 '14