How to Install and Use Gazebo Plugin in Simulink for Accessing ROS Topics with MAVROS and PX4 Autopilot?

Question

Gaurav 2024-8-19

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https://ww2.mathworks.cn/matlabcentral/answers/2146259-how-to-install-and-use-gazebo-plugin-in-simulink-for-accessing-ros-topics-with-mavros-and-px4-autopi

回答： Malay Agarwal 2024-8-20

I'm working on a project where I use Simulink to interface with ROS and Gazebo. My setup involves communicating with an Iris drone that uses the PX4 Autopilot, and I am using MAVROS for this communication. Typically, I launch ROS and Gazebo using the following commands:

HEADLESS=1 make px4_sitl gazebo

roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14540"

However, I'm having difficulty accessing ROS topics from within the Simulink environment. I believe I need to install the Gazebo plugin for Simulink, but I'm unsure of the exact steps to do this.

Could someone guide me through the process of installing and configuring the Gazebo plugin in Simulink? Any specific instructions for ensuring that I can properly access ROS topics from Simulink would be greatly appreciated.