Can I do a step-by-step simulation in Gazebo run by MatLab or Simulink?

I am looking into simulation softwares and I could not find the direct answer. I would like to run a robot from MatLab/Simulink with simulation in Gazebo. It is crucial for me that the simulation software supports step-by-step simulation and gets the data back to MatLab.

So the question is does Gazebo support that kind of simulation? And is it possible to get documentation on the topic.

Asked by AB2468 on 2019-03-15 10:05:00 UTC

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For simple scenarios, you may find useful Gazebo and ROS blocks in Simulink. With use of Gazebo Pacer block, you can perform a cosimulation. For data exchange, you may use Gazebo messages or ROS.

However, the solution is rather slow at small Gazebo world step (50ms and smaller) especially in combination with ROS. I ended up writing a custom world plugin, which pauses and runs again Gazebo Simulation and communicates with a custom s-function Simulink block (I used ZMQ). This proved to be faster and allows more control, but takes a lot of time.

Asked by m.bahno on 2022-03-08 11:11:25 UTC