Co-simulation between Simulink and Gazebo with ROS 2: How to include GazeboPlugin in a launch file?

4 ビュー (過去 30 日間)
Hi,
I want to co-simulate this robot developed in ROS 2 with Simulate (control) and Gazebo (visual). Just in case, I'm using Ubuntu 18.04 running ROS Melodic and ROS 2 Dashing.
I've successfully co-simulated the UR10 robot with ROS following the tutorial of MathWorks: Control Manipulator Robot with Co-Simulation in Simulink and Gazebo.
However, I'm wondering how could be done this with ROS 2 and with a robot containing a more complex architecture (.launch instead of .world). I've seen here that the GazeboPlugin is available in C++, but I'm not sure about how to integrate it to the .launch of the existent project.
Any help is welcome.
Jon

回答 (1 件)

Gaurav Bhosale
Gaurav Bhosale 2022 年 5 月 20 日
編集済み: Gaurav Bhosale 2022 年 5 月 20 日
Hi Jon,
In the VM, the plugin location is /home/user/src/GazeboPlugin/
The Plugin C++ code is located at /home/user/src/GazeboPlugin/src/gazeboplugin/GazeboPlugin.cpp
You can refer Gazebo Co-Sim tutorial.
Further, .launch file should include .world file and respective .world file should contain <plugin> details.
To integrate Gazebo Co-Sim plugin, you need add <plugin> details in the .world file as mentioned in this example.
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin> [ Relative Path - if Gazebo launched from /home/user/src/GazeboPlugin/export/ ]
OR
<plugin name="GazeboPlugin" filename="/home/user/src/GazeboPlugin/export/lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin> [ Absolute Path ]
Thanks.
  1 件のコメント
Jon Aztiria
Jon Aztiria 2022 年 5 月 25 日
Thanks for the answer @Gaurav Bhosale. However, I would need a more detailed guide to integrate it to the mentioned robot with a ROS 2 launch file, but don't worry, it's not extremely necessary for me right now. Thanks again!

サインインしてコメントする。

カテゴリ

Help Center および File ExchangeNetwork Connection and Exploration についてさらに検索

製品


リリース

R2022a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by