gzworld

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")