Plugin for co-simulation between MATLAB and Gazebo

Question

우석 송 2023-7-5

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https://ww2.mathworks.cn/matlabcentral/answers/1991848-plugin-for-co-simulation-between-matlab-and-gazebo

评论： VIGNESH BALAJI 2024-2-16

Hi sir

I am trying to perform a co-simulation between MATLAB(R2023a) and Gazebo(11.11.0) to read .mat file.

The reference material is https://kr.mathworks.com/help/robotics/ug/perform-co-simulation-between-simulink-and-gazebo.html

I just want to ask if plugin for co-simulation between MATLAB and Gazebo .launch file(not .world file)

The reason why I ask is the .launch file can contain many information such as other .world files and .launch files.

So if anyone who knows about them and solved this my question, please let me know with your solution tips.

Thanks for reading my question.

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Answer 1

Song-Hyun Ji 2023-7-7

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https://ww2.mathworks.cn/matlabcentral/answers/1991848-plugin-for-co-simulation-between-matlab-and-gazebo#answer_1268653

Here are examples to use .launch files.

https://www.mathworks.com/help/releases/R2023a/supportpkg/urseries/ug/launch-gazebo-simulation-with-ur5-robot.html

https://www.mathworks.com/help/releases/R2023a/ros/ug/get-started-with-a-real-turtlebot.html

https://www.mathworks.com/help/releases/R2023a/supportpkg/urseries/ug/installation-of-ros-drivers-for-intel-realsense-devices.html

If you think our product is needed to be enhanced regarding the functionality in the manual you pointed out, please contact the Technical Support team with the reproducible sample files.

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우석 송 2023-7-10

sorry for late your reply. I try to solve your solution and then let you know if I have questions.

Thanks for leave your reply on my post

VIGNESH BALAJI 2024-2-16

Where do I run this command - packageGazeboPlugin as mentioned in the tutorial. It is not clear to me. Please let me know.

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Answer 2

Gaurav Bhosale 2023-7-7

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https://ww2.mathworks.cn/matlabcentral/answers/1991848-plugin-for-co-simulation-between-matlab-and-gazebo#answer_1268693

Hi,

The details provided by Song-Hyun Ji are correct. I will add more details below.

As you mentioned, you have .launch file and it contains .world file. In that case, you can add plugin information in .world file and attach same for .launch file.

We have one ROS-Gaazebo CoSim example which showcase how to use Gazebo Co-Sim plugin with roslaunch. Please go through Enable Synchronization in Other ROS–Gazebo Examples in VM section.

Further, you can find more details in Gazebo tutorial.

Please try once and let me know if you have further questions.

Thanks