gzinit
Initialize connection settings for Gazebo Co-Simulation MATLAB interface
Since R2021a
Description
gzinit
initializes connection settings and checks connectivity with
the Gazebo plugin running on localhost
and port 14581
.
This syntax sets response timeout to 1 second.
gzinit(
specifies the host name or IP
address of the Gazebo plugin HostIP
)HostIP
.
Examples
Perform Co-Simulation Between MATLAB and Gazebo
Set up a simulation between MATLAB and Gazebo, receive data from Gazebo, and send commands to Gazebo.
Prerequisite
Follow the instructions in Perform Co-Simulation Between Simulink and Gazebo to download the Linux virtual machine (VM) with Gazebo and set up multiSensorPluginTest.world
.
Configure and Perform Gazebo Co-Simulation
Initialize connection settings and check connectivity with the Gazebo plugin running on 192.168.198.129
and port 14581.
gzinit("192.168.198.129",14581)
Assign and Retrieve Gazebo Model Information
List the models available in the Gazebo world.
modelList = gzmodel("list")
modelList = 1×11 string
"ground_plane" "unit_box" "camera0" "camera1" "depth_camera0" "depth_camera1" "imu0" "imu1" "hokuyo0" "hokuyo1" "velodyne"
Assign values to the Position
and SelfCollide
parameters of the unit_box
model.
[status,message] = gzmodel("set","unit_box","Position",[2 2 0.5],"SelfCollide","on")
status = 1×2 logical array
1 1
message = 1×2 string
"Position parameter set successfully." "SelfCollide parameter set successfully."
Retrieve the values of the Position
and SelfCollide
parameters of the unit_box
model.
[position,selfcollide] = gzmodel("get","unit_box","Position","SelfCollide")
position = 1×3
2 2 0.4999999999951
selfcollide = logical
1
Assign and Retrieve Gazebo Model Link Information
List the links available in the unit_box
model.
linkList = gzlink("list","unit_box")
linkList = "link"
Assign values to the link parameters Mass
and Gravity
of the link link
in the unit_box
model.
[status,message] = gzlink("set","unit_box","link","Mass",2,"Gravity","off")
status = 1×2 logical array
1 1
message = 1×2 string
"Mass parameter set successfully." "Gravity parameter set successfully."
Retrieve the values of the link parameters Mass
and Gravity
of the link link
in the unit_box
model.
[mass,gravity] = gzlink("get","unit_box","link","Mass","Gravity")
mass = 2
gravity = logical
0
Assign and Retrieve Gazebo Model Joint Information
List the joints available in the unit_box
model.
jointList = gzjoint("list","unit_box")
jointList = "joint"
Assign a value to the joint parameter Damping
of the axis Axis0
for the joint joint
in the unit_box
model.
[status,message] = gzjoint("set","unit_box","joint","Axis","0","Damping",0.25)
status = logical
1
message = "Damping parameter set successfully."
Retrieve the value of the joint parameter Damping
of the axis Axis0
for the joint joint
in the unit_box
model.
damping = gzjoint("get","unit_box","joint","Axis0","Damping")
damping = 0.25
Reset all Gazebo model configurations.
gzworld("reset")
Input Arguments
HostIP
— Host name or IP address of machine with Gazebo plugin
localhost
(default) | string scalar | character vector
The host name or IP address of the machine with the Gazebo plugin, specified as a string scalar or character vector.
Example: gzinit("172.18.250.191")
HostPort
— Port number of machine with Gazebo plugin
14581
(default) | positive integer
Port number of the machine with the Gazebo plugin, specified as a positive integer.
The port number must be the same as the value of 'portNumber'
in the
Gazebo '.world'
file.
Example: gzinit("172.18.250.191",14581)
Timeout
— Response timeout
1
(default) | positive numeric scalar
Response timeout, specified as a positive numeric scalar. This value determines how
long the client will wait for a response from the server, in seconds. Set a higher
Timeout
value for a network with poor connectivity.
Example: gzinit("172.18.250.191",14581,10)
Limitations
gzinit
function not supported with MATLAB® Compiler™.
Version History
Introduced in R2021a
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