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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.

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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.

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

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Last updated: Mar 08