Multiple mobile robots simulation with simulink and gazebo

2021 2 26
1 个回答
回答已采纳
更新时间：2021 3 5
7 次查看（30 天）

0 个投票

Hi, I'm trying to perform co-simulation between Simulink and Gazebo, driving more then one robot. I use the Gazebo apply command block in order to drive the robots. It works when I drive only one robot, but if I try to drive more then one robots, only one robot moves. Can someone help me?

请先登录，再回答此问题。

 采纳的回答

Gaurav Bhosale
Gaurav Bhosale 2021-3-2
编辑：Gaurav Bhosale 2021-3-2

0 个投票

Hi Alberto,
The ApplyLinkWrench command with two robot can be configured as follows and work for two robots.
Can you specify which ApplyCommand are you trying?
Thanks.
With Regards,
Gaurav Bhosale

4 个评论
显示 2更早的评论 隐藏 2更早的评论

Alberto Vella
Alberto Vella 2021-3-4
Hi Gaurav, I'm using ApplyJointTorque. I'm trying to control five different unicycles, so I'm using one ApplyCommand for every wheel, selecting for example robotA/left_wheel_hinge for every wheel and for every robot. The problem is that only one robot moves and the others don't receive any command. Do you know what may be the problem?
Thanks
Gaurav Bhosale
Gaurav Bhosale 2021-3-4
Hi Alberto,
There is overriding issue associated with same joint name for ApplyJointTorque. e.g. If you have two robots of different name robotA , robotB but having same joint name robotA/left_wheel_hinge and robotB/left_wheel_hinge, then the torque values of robotA are overriden by robotB torque values. We are working on that issue. Meanwhile, I suggest you to change the joint name such as 'robotA/left_wheel_hingeA' and 'robotB/left_wheel_hingeB', so that the command will not be overridden. Please try this and let me know, it solves your issue or not.
Thanks
Alberto Vella
Alberto Vella 2021-3-4
Thank you very much. I will try and I will let you know.

请先登录，再进行评论。

更多回答（0 个）

类别

在 帮助中心 和 File Exchange 中查找有关 Robotics 的更多信息

产品

版本

R2020b

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by