Robotics System Toolbox™ provides a co-simulation framework that enables you to use robotics algorithms in MATLAB® and Simulink® and visualize their performance in a virtual simulation environment. This environment uses the Gazebo Simulator. For more details on the simulation environment, see How Gazebo Simulation for Robotics System Toolbox Works.
This simulation tool is commonly used to supplement real data when developing, testing, and verifying the performance of robotics algorithms.
The Robotics System Toolbox > Gazebo Co-Simulation block library contains Simulink blocks related to the simulation
environment. To view the library, at the MATLAB command prompt, enter
|Gazebo Apply Command|
Send command to Gazebo simulator
|Gazebo Blank Message|
Create blank Gazebo command
Settings for synchronized stepping between Gazebo and Simulink
Receive messages from Gazebo server
Send custom messages to Gazebo server
Receive custom messages from Gazebo server
|Gazebo Select Entity|
Select a Gazebo entity
These are the MATLAB functions related to the simulation environment.
Initialize connection settings for Gazebo Co-Simulation MATLAB interface
Assign and retrieve Gazebo model joint information
Assign and retrieve Gazebo model link information
Assign and retrieve Gazebo model information
Interact with Gazebo world
Generate dependencies for Gazebo custom message support
Create Gazebo plugin package for Simulink