Gazebo Select Entity

Select a Gazebo entity

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  • Library:

  • Robotics System Toolbox / Gazebo Co-Simulation

  • Gazebo Select Entity block

Description

The Gazebo Select Entity block retrieves the model name of a Gazebo entity, such as a link or joint, from a simulated environment. The block outputs a string for both the model and associated joint or link name. Use both these names when specifying commands using the Gazebo Apply Command block.

Before selecting an entity, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings.

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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Model name of entity, output as string scalar. Strings are output as a variable-size uint8 array for Gazebo.

Data Types: uint8

Associated joint or link, output as a string scalar. Strings are output as a uint8 array for Gazebo.

Data Types: uint8

Parameters

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Choose a model by clicking Select, which brings up a list of available names available on the Gazebo server. The block assumes you are already connected to a Gazebo simulation. If not, click Configure Gazebo network and simulation settings in the block mask.

Upper limit of the size of the output uint8 arrays, Model Name and Joint/Link. Increase the upper bound when the names are longer than the default value 128.

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.

See Also

Blocks

Topics

Introduced in R2019b

Robotics System Toolbox Documentation

Support