Gazebo co-simulation plugin forGazebo 11.x version

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Giulio Mattera
Giulio Mattera 2022-2-11
评论： Emre CAN 2022-8-16
I get this error during CMake. There is a way to solve? I would to use ROS Noetic and Gazebo to communicate with Simulink.
Make Error at CMakeLists.txt:53 (message):
The installed version of Gazebo is not supported for Gazebo Co-Simulation
Plugin generation.
The Gazebo Co-Simulation Plugin supports,
minimum Gazebo version: gazebo 9.x series
maximum Gazebo version: gazebo 10.x series
-- Configuring incomplete, errors occurred!

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回答（3 个）

Gaurav Bhosale
Gaurav Bhosale 2022-2-11
Hi Giulio,
The Gazebo Co-Sim Plugin support earlier to R2022a is limited to Gazebo 9 and 10 version.
We have added Gazebo 11 version support from MATLAB R2022a.
So, if you have pre-release of MATLAB R2022a then you can use Gazebo Co-Sim Plugin with Gazebo 11 version.
Thanks.
  2 个评论
Jacob Jordan Catania
Jacob Jordan Catania 2022-3-3
HI Gaurav,
I have installed the pre-release version of Matlab R2022a. However, the following error keeps on showing up.
Emre CAN
Emre CAN 2022-8-16
Hi @Jacob Jordan Catania, I had the same issue. As it turned out, the problem was writing the port number as "11311". If you check the last lines of "multiSensorPluginTest.world" file, you should see the correct port number, which is probably "14581".
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>

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Gaurav Bhosale
Gaurav Bhosale 2022-3-3
Hi Giulio,
As per error description, you need to re-install Gazebo Plugin.
Basically, we have done changes in plugin for R2022a. So, the older plugin will not work. You need to perform manual Gazebo plugin installation steps as,
You can find same details in example
Thanks.
With Regards,
Gaurav Bhosale
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Jacob Jordan Catania
Jacob Jordan Catania 2022-3-4
Sorry but I am not sure what I need to show and which files I should open or run a command if possible to show exactly what is required to be shown.
Mingliang Liu
Mingliang Liu 2022-4-26
Hi,
I have run into exactly the same problem with Matlab R2022a for linux.
I have gone through every step in Perform Co-Simulation between Simulink and Gazebo, but I still got the error saying the plugin is for R2021b.
Also I went through some files in the GazeboPlugin folder, and I found that line 10 in file /GazeboPlugin/msgproto/mw.internal.robotics.gazebotransport.CoSimMsgs.proto says: "required string version = 1 [default = "R2021b"];".
I am not sure whether this is related to the error, but I tried to change "R2021b" to "R2022a" and it still didn't solve the problem.

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Mingliang Liu
Mingliang Liu 2022-4-30
Hi there,
I have solve the issue. You can first download the plugin by running command packageGazeboPlugin in R2022a. The plugin downloaded by this command is for R2021b but it's compatible with Gazebo 11.xx. Then you can use R2021b to run Gazebo pacer and run the plugin in Gazebo.
Hope it helps you.

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