How to apply relative force/torque/wrench using Gazebo Co simulation blocks in Simulink?

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Kenneth Hoffmann 2020-7-13

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编辑： Gaurav Bhosale 2021-5-22

hello!

I am simulating a flying robot in gazebo, and have been using the Gazebo simulink cosimulation approach. I calculate lift/drag and so on in the relative, body frame of the robot using my own functions. I know gazebo has this capability through other means(outside of MATLAB), but I would like to stay in the MATLAB-Simulink-Gazebo world. The documentation for the gazebo applylinkwrench blocks is not thorough, and I only see the ability to apply two message types in the block: ApplyLinkWrench or ApplyJointTorque. It seems there should be a ApplyLinkWrenchRelative, or something along those lines, but I cannot find it.

Additionally, if anyone has any insight into how to extract velocity in relative frame from a model/link, I would appriciate that as well!

thanks!

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Answer 1

Gaurav Bhosale 2021-5-22

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编辑：Gaurav Bhosale 2021-5-22

Hi Kenneth,

To enable Gazebo functionality which are not available in current MATLAB-Simulink support, you can create custom plugin and call Gazebo API. Further, to connect with Simulink , you can use Gazebo Subscribe/Publish blocks (Custom Message Support) from R2020b and later.

https://www.mathworks.com/help/robotics/ref/gazebogenmsg.html

https://www.mathworks.com/help/robotics/ref/gazebopublish.html

https://www.mathworks.com/help/robotics/ref/gazebosubscribe.html

Further, we have extended Gazebo Co-Sim funcationality in R2020b such as read link/joint state, set joint position, etc.

https://www.mathworks.com/help/robotics/ref/gazeboapplycommand.html?s_tid=doc_ta

https://www.mathworks.com/help/robotics/ref/gazeboread.html