Probems working with Gazebo Pacer and ROS Messages

Question

Martin Rupp 2020-8-10

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https://ww2.mathworks.cn/matlabcentral/answers/577516-probems-working-with-gazebo-pacer-and-ros-messages

回答： Gaurav Bhosale 2021-3-15

Hello,

I am currently trying to setup a Gazebo and Simulink Co Simulation to design algorithms for robot motion control.

I have established the Gazebo Plugin connection. At least if I add the Gazebo Pacer to my Simulink model and test the connection it returns a success message. Now I am trying to subscribe and publish the specific ROS messages to get the state of the robot. When I am trying to subscribe to /joint_states and select Position via Bus Selector I get a 128 elements long array (as expected) but all are zeros. Further when I try to echo this topic either in Matlab Comand Window or in a Linux Shell on my Virtual Machine I cannot get the topic. It said in the Linux Shell that no messages are available. But when I just start the Gazebo simulation without the matlab pacer I can echo the topic successfuly in a Linux Shell. So it seems the Gazebo Pacer somehow is elated to this problem.

Can someone help me solve this problem?

Best Regards

Martin