Gazebo Select Entity

Select a Gazebo entity

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

Description

The Gazebo Select Entity block retrieves the model name of a Gazebo entity, such as a link or joint, from a simulated environment. The block outputs a string for both the model and associated joint or link name. Use both these names when specifying commands using the Gazebo Apply Command block.

Before selecting an entity, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings.

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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Model name of entity, output as string scalar. Strings are output as a variable-size uint8 array for Gazebo.

Data Types: uint8

Associated joint or link, output as a string scalar. Strings are output as a uint8 array for Gazebo.

Data Types: uint8

Parameters

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Choose a model by clicking Select, which brings up a list of available names available on the Gazebo server. The block assumes you are already connected to a Gazebo simulation. If not, click Configure Gazebo network and simulation settings in the block mask.

Upper limit of the size of the output uint8 arrays, Model Name and Joint/Link. Increase the upper bound when the names are longer than the default value 128.

Extended Capabilities

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

Introduced in R2019b