gzworld
Syntax
Description
gzworld("reset")
resets all Gazebo model configurations and Gazebo
simulation time.
Examples
Set up a simulation between MATLAB and Gazebo, receive data from Gazebo, and send commands to Gazebo.
Prerequisite
Follow the instructions in Perform Co-Simulation Between Simulink and Gazebo to download the Linux virtual machine (VM) with Gazebo and set up multiSensorPluginTest.world
.
Configure and Perform Gazebo Co-Simulation
Initialize connection settings and check connectivity with the Gazebo plugin running on 192.168.198.129
and port 14581.
gzinit("192.168.198.129",14581)
Assign and Retrieve Gazebo Model Information
List the models available in the Gazebo world.
modelList = gzmodel("list")
modelList = 1×11 string
"ground_plane" "unit_box" "camera0" "camera1" "depth_camera0" "depth_camera1" "imu0" "imu1" "hokuyo0" "hokuyo1" "velodyne"
Assign values to the Position
and SelfCollide
parameters of the unit_box
model.
[status,message] = gzmodel("set","unit_box","Position",[2 2 0.5],"SelfCollide","on")
status = 1×2 logical array
1 1
message = 1×2 string
"Position parameter set successfully." "SelfCollide parameter set successfully."
Retrieve the values of the Position
and SelfCollide
parameters of the unit_box
model.
[position,selfcollide] = gzmodel("get","unit_box","Position","SelfCollide")
position = 1×3
2 2 0.4999999999951
selfcollide = logical
1
Assign and Retrieve Gazebo Model Link Information
List the links available in the unit_box
model.
linkList = gzlink("list","unit_box")
linkList = "link"
Assign values to the link parameters Mass
and Gravity
of the link link
in the unit_box
model.
[status,message] = gzlink("set","unit_box","link","Mass",2,"Gravity","off")
status = 1×2 logical array
1 1
message = 1×2 string
"Mass parameter set successfully." "Gravity parameter set successfully."
Retrieve the values of the link parameters Mass
and Gravity
of the link link
in the unit_box
model.
[mass,gravity] = gzlink("get","unit_box","link","Mass","Gravity")
mass = 2
gravity = logical
0
Assign and Retrieve Gazebo Model Joint Information
List the joints available in the unit_box
model.
jointList = gzjoint("list","unit_box")
jointList = "joint"
Assign a value to the joint parameter Damping
of the axis Axis0
for the joint joint
in the unit_box
model.
[status,message] = gzjoint("set","unit_box","joint","Axis","0","Damping",0.25)
status = logical
1
message = "Damping parameter set successfully."
Retrieve the value of the joint parameter Damping
of the axis Axis0
for the joint joint
in the unit_box
model.
damping = gzjoint("get","unit_box","joint","Axis0","Damping")
damping = 0.25
Reset all Gazebo model configurations.
gzworld("reset")
Limitations
gzworld
function not supported with MATLAB® Compiler™.
Version History
Introduced in R2021a
MATLAB Command
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