Simulink controlled Gazebo simulated robot [closed]

asked 2012-04-20 00:55:09 -0500

Mauro gravatar image

Hi all. I'm new for ROS and Gazebo and I need to simulate a robot (Pioneer like, with 2 differential controlled wheels and a castor) moving on an inclined plane. The robot must react to the gravity force, so that, if no control is applied it moves freely on the inclined plane due to the gravity. Moreover, I need to control the robot using a torque controller that applies torque commands to the wheels. I developed a robot model and a controller in Matlab/Simulink and I need to control the Gazebo simulated robot using my Simulink controller. I have already read the ROS and Gazebo tutorials but it is not clear for me if I can use the differential drive plugin or not, maybe I can use the PR2 mechanism approach but I'm not sure it is the correct way. Moreover, I didn't manage to interface Simulink and the Erratic robot just to test the commandability of the Gazebo simulated robot from Simulink using Matlab S-Function.

Any advice is very appreciated.

Thanks all of you in advance for your help.


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Closed for the following reason duplicate question by lucasw
close date 2014-08-21 10:08:25.282803


@Mauro This sounds like homework/project, queries like these should be discouraged.

Arkapravo gravatar image Arkapravo  ( 2012-04-22 06:12:01 -0500 )edit
lucasw gravatar image lucasw  ( 2014-08-21 10:08:57 -0500 )edit