Gazebo Pacer

Settings for synchronized stepping between Gazebo and Simulink

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  • Library:

  • Robotics System Toolbox / Gazebo Co-Simulation

Description

The Gazebo Pacer block synchronizes the simulation times between Gazebo and Simulink®. Synchronization is important for ensuring your Simulink model and the Gazebo simulation behave correctly. The block outputs a Boolean indicating successful synchronization. Synchronized stepping is only supported for one Gazebo simulation. Your entire model, including referenced models, can only contain one Gazebo Pacer block.

To ensure successful synchronization, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings.

Select the Reset behavior to reset the Gazebo simulation on model restart or only reset simulation time.

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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Status of synchronization, output as either 0 or 1. A value of 0 indicates successful time syncing. A value of 1 means the simulations are out of sync.

Data Types: uint8

Parameters

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Select from the Reset behavior drop-down. Choose to reset the Gazebo simulator time only, or both the simulator time and scene.

Set the Sample time parameter to step the Gazebo simulation at the given rate. This parameter must be a multiple of the maximum step size of the Gazebo solver.

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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