Prerequisite

Follow the instructions inPerform Co-Simulation between Simulink and Gazeboto download the Linux virtual machine (VM) with Gazebo and set upmultiSensorPluginTest.world.

Configure and Perform Gazebo Co-Simulation

Initialize connection settings and check connectivity with the Gazebo plugin running on192.168.198.129and port14581.

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 thePositionandSelfCollideparameters of theunit_boxmodel.

[status,message] = gzmodel("set","unit_box","Position",[2 2 0.5],"SelfCollide","on")

status =1×2 logical array1

message =1×2 string"Position parameter set successfully." "SelfCollide parameter set successfully."

Retrieve the values of thePositionandSelfCollideparameters of theunit_boxmodel.

[position,selfcollide] = gzmodel("get","unit_box","Position","SelfCollide")

position =1×32 2 0.4999999999951

selfcollide =logical1

Assign and Retrieve Gazebo Model Link Information

List the links available in theunit_boxmodel.

linkList = gzlink("list","unit_box")

linkList = "link"

Assign values to the link parametersMassandGravityof the linklinkin theunit_boxmodel.

[status,message] = gzlink("set","unit_box","link","Mass",2,"Gravity","off")

status =1×2 logical array1

message =1×2 string"Mass parameter set successfully." "Gravity parameter set successfully."

Retrieve the values of the link parametersMassandGravityof the linklinkin theunit_boxmodel.

[mass,gravity] = gzlink("get","unit_box","link","Mass","Gravity")

mass = 2

gravity =logical0

Assign and Retrieve Gazebo Model Joint Information

List the joints available in theunit_boxmodel.

jointList = gzjoint("list","unit_box")

jointList = "joint"

Assign a value to the joint parameter阻尼of the axisAxis0for the jointjointin theunit_boxmodel.

[status,message] = gzjoint("set","unit_box","joint","Axis","0","Damping",0.25)

status =logical1

message = "Damping parameter set successfully."

Retrieve the value of the joint parameter阻尼of the axisAxis0for the jointjointin theunit_boxmodel.

damping = gzjoint("get","unit_box","joint","Axis0","Damping")

damping = 0.25

Reset all Gazebo model configurations.

gzworld("reset")