Gazebo Pacer

Settings for synchronized stepping between Gazebo and Simulink

Libraries:
Robotics System Toolbox / Gazebo Co-Simulation

Description

The Gazebo Pacer block synchronizes the simulation times between Gazebo and Simulink^®. Synchronization is important for ensuring your Simulink model and the Gazebo simulation behave correctly. The block outputs a Boolean indicating successful synchronization. Synchronized stepping is only supported for one Gazebo simulation. Your entire model, including referenced models, can only contain one Gazebo Pacer block.

To ensure successful synchronization, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings. For more information see Configure Gazebo Simulation.

Select the Reset behavior to reset the Gazebo simulation on model restart or only reset simulation time.

This block is part of a co-simulation interface between MATLAB^® and Gazebo for exchanging data and sending commands. To see a basic example, check Perform Co-Simulation Between Simulink and Gazebo.

Examples

Perform Co-Simulation Between Simulink and Gazebo

Set up a synchronized simulation between Simulinkand Gazebo to send commands and receive data from Gazebo.

Open Live Script

Limitations

Models that use this block do not support Code Generation or Rapid Accelerator mode.

Ports

Output

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Status — Status of synchronization
0 | 1

Status of synchronization, output as either 0 or 1. A value of 0 indicates successful time syncing. A value of 1 means the simulations are out of sync.

Data Types: uint8

Parameters

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Reset behavior — Reset simulation time or scene
`Reset Gazebo simulation time` (default) | `Reset Gazebo simulation time and scene`

Select from the Reset behavior drop-down.

Reset Gazebo simulation time — Resets the Gazebo simulator time.
Reset Gazebo simulation time and scene — Resets both the Gazebo simulator time and scene.

Sample time — Sampling time of input
`0.001` (default) | positive

Set the Sample time parameter to step the Gazebo simulation at the given rate. This parameter must be a multiple of the maximum step size of the Gazebo solver.

More About

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Configure Gazebo Simulation

Click Configure Gazebo network and simulation settings in the block mask to launch the Configure Gazebo Simulation dialog box, which configures the synchronized stepping between Gazebo and Simulink. You can select the Network Address and specify Hostname/IP Address and Port of the computer running the Gazebo simulator with the Gazebo plugin installed. Then click Test to test the connection to the running Gazebo simulator. You can also specify the Response timeout in seconds. These settings apply to all Gazebo blocks for all open Simulink models.

Starting from R2022b, you can connect to multiple Gazebo simulations from one or more machines. You can now specify a cell array of IP addresses and a cell array of port numbers in the MATLAB workspace and then specify their variable names to the Hostname/IP Address and Port boxes, respectively.

To connect to a single Gazebo session from MATLAB, specify the port number and IP address of the computer running the Gazebo simulator.

portnum = 14580; 
ipaddress = '172.18.250.125';

To connect to multiple Gazebo sessions from MATLAB, specify the port numbers and IP addresses of the computers running the Gazebo simulator.

portnum = {14580,14581};
ipaddress = {'172.18.250.125','172.18.250.125'};

Version History

Introduced in R2019b

Gazebo Pacer

Description

Examples

Perform Co-Simulation Between Simulink and Gazebo

Limitations