Gazebo for industrial automation simulation

asked 2018-02-08 04:10:18 -0600

ul gravatar image


We are currently looking into the design of a industrial manipulator with X, Y, Z, R axes and a gripper. The machine is controlled with a PLC running CodeSys3. Movements are generated with the CNC module by evaluating G-code. The axes are controlled with Servo Drives over a ProfiNet field bus.

I was wondering if Gazebo could be used for the simulation of such a machine? As far as I can understand, I would probably need to write a model plugin to connect the position and velocity parameters of the drives to Gazebo. Parameters could be exchanged over OPC UA (C++ libs seem to be available)? The gripper has open/close state contacts plus a distance sensor to be able to pick the objets to place from a shelve which would also be mapped to Gazebo.

Is this worth considering? Did anybody do something similar? Any pointers or additional information would be greatly appreciated.

Thanks in advance Ralph

edit retag flag offensive close merge delete


Do you actually need a dynamics simulation? I'm just wondering what your motivation is for setting up a Gazebo model here.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-13 11:15:14 -0600 )edit

I want to do a similar thing. I'd like to simulate a vehicle including sensor data, which is connected to a plc (Siemens Simatic S7). Therefore i need a connection between plc and gazebo. What is the best way to do that?

yasdfgr gravatar imageyasdfgr ( 2018-02-22 10:57:56 -0600 )edit