# Revision history [back]

### YARP Gazebo clock plugin

Hello everyone,

I would like to synchronize Simulink and Gazebo, and for that purpose I am trying to use the YARP clock plugin in combination with the WB-Toolbox for Simulink. However it seems that I cannot load it properly (from myrobot.gazebo file, also using a myrobot.xacro description), as the expected outputs do not appear. My setup includes ROS Kinetic and Gazebo 7.

Has anyone ever used this plugin successfully? Also is there any other way I might achieve synchronization ?

### YARP Gazebo clock plugin

Hello everyone,

I would like to synchronize Simulink and Gazebo, and for that purpose I am trying to use the YARP clock plugin in combination with the WB-Toolbox for Simulink. However it seems that I cannot load it properly (from myrobot.gazebo file, also using a myrobot.xacro description), as the expected outputs do not appear. My setup includes ROS Kinetic and Gazebo 7.

Has anyone ever used this plugin successfully? Also is there any other way I might achieve synchronization ?

EDIT: Sorry for not clarifying these in the first place. This is the YARP clock plugin (https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/clock) and this is the WB-Toolbox (https://github.com/robotology/WB-Toolbox), although the problem seems to originate in Gazebo. The myrobot.gazebo part where the plugin is loaded looks like this:

<gazebo>
<plugin name="gazebo_clock" filename="libgazebo_yarp_clock.so" />
</gazebo>


This is a possible source of error as I have not found a similar example so I am not sure this is exactly how the plugin should be loaded.

As for the debug process, I have loaded the plugin both from the .gazebo file and using the command line, as MSI suggests below, however the result is the same. When I use the yarp name list command, the /clock port does not appear in the list. The result is that when I run the Simulink counterpart with the simulation synchronizer block I get an error message, mentioning that the block could not connect to the simulation clock server.