simulink model as GAZEBO plugin

asked 2014-11-09 09:19:33 -0600

dmeltz
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Hello all

Is it possible to connect simulink to gazebo as a plugin ? for example if i like to model a nonlinear spring using simulink and include it as part of my robot ?

Does anyone have an idea if and how it can be done ?

thanks

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Are you talking about having your model running in simulink, communicating with Gazebo somehow in real-time, or do you want to create a Gazebo plugin using code from simulink? Both are probably possible (with some work), but the approaches are different.

gvdhoorn ( 2014-11-09 11:11:35 -0600 )edit

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answered 2014-11-09 11:21:38 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

For the first approach (communicating with Gazebo in (simulated) real-time), see Football Table Simulation Visualization Tool for instance. This uses a shared-memory plugin in Gazebo and a set of Simulink blocks to synchronise Gazebo and the controller in time, and to exchange data between the two. See Feedback control of gazebo with simulink over shared memory for a video of it in action.