Gazebo Blank Message

Create blank Gazebo command

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  • Library:

  • Robotics System Toolbox / Gazebo Co-Simulation

Description

The Gazebo Blank Message block creates a blank Gazebo message or command based on the specified type. The block output is a bus signal that contains the required elements for the type of command. Use a Bus Assignment block to modify specific fields in the bus signal. The bus signal initializes with zero value (ground).

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.

Limitations

  • Models that use this block do not support Code Generation or Rapid Accelerator mode.

Ports

Output

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Blank command signal, output as a bus signal. A command gives instructions for processing in Gazebo. By default, the command type is Gazebo_SL_Bus_gazebo_msgs_ApplyLinkWrench.

Data Types: bus

Parameters

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Choose the command type for applying a torque or wrench.

Sample time indicates when, during simulation, the block produces outputs and if appropriate, updates its internal state.

Model Examples

Perform Co-Simulation between Simulink and Gazebo

Perform Co-Simulation between Simulink and Gazebo

Setup synchronized simulation between Simulink and Gazebo, how to receive data from Gazebo, and send commands to Gazebo.

Open Live Script

See Also

Blocks

Topics

Introduced in R2019b

Robotics System Toolbox Documentation
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