Probems working with Gazebo Pacer and ROS Messages

Hello,

I am currently trying to setup a Gazebo and Simulink Co Simulation to design algorithms for robot motion control.

I have established the Gazebo Plugin connection. At least if I add the Gazebo Pacer to my Simulink model and test the connection it returns a success message. Now I am trying to subscribe and publish the specific ROS messages to get the state of the robot. When I am trying to subscribe to /joint_states and select Position via Bus Selector I get a 128 elements long array (as expected) but all are zeros. Further when I try to echo this topic either in Matlab Comand Window or in a Linux Shell on my Virtual Machine I cannot get the topic. It said in the Linux Shell that no messages are available. But when I just start the Gazebo simulation without the matlab pacer I can echo the topic successfuly in a Linux Shell. So it seems the Gazebo Pacer somehow is elated to this problem.

Can someone help me solve this problem?

Best Regards

Martin

Answer 1

[Gaurav Bhosale]

Hi Martin,

You might need to update plugin from VM. Use packageGazeboPlugin and copy-build plugin on VM.

You can follow example to

https://www.mathworks.com/support/product/robotics/ros2-vm-installation-instructions-v4.html

Thanks