Gazebo Blank Message

Create blank Gazebo command

  • Library:
  • Robotics System Toolbox / Gazebo Co-Simulation

Description

The Gazebo Blank Message block creates a blank Gazebo message or command based on the specified type. The block output is a bus signal that contains the required elements for the type of command. Use a Bus Assignment block to modify specific fields in the bus signal. The bus signal initializes with zero value (ground).

This block is part of a co-simulation interface between MATLAB® and Gazebo for exchanging data and sending commands. To see a basic example, check Perform Co-Simulation between Simulink and Gazebo.

Ports

Output

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Blank command signal, output as a bus signal. A command gives instructions for processing in Gazebo. By default, the command type is Gazebo_SL_Bus_gazebo_msgs_ApplyLinkWrench.

Data Types: bus

Parameters

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Choose the command type for applying a torque or wrench.

Sample time indicates when, during simulation, the block produces outputs and if appropriate, updates its internal state.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2019b