Gazebo | Ignition | Community
Ask Your Question

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

asked 2019-03-15 10:05:00 -0500

AB2468 gravatar image

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2022-03-08 10:11:25 -0500

m.bahno gravatar image

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.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2019-03-15 10:05:00 -0500

Seen: 783 times

Last updated: Mar 08