Co-Simulation between Simulink and Gazebo in RealTime?

Hi,

I'm trying to get the Co-Simulation between Simulink and Gazebo running in real time. Playing around with different solvers and other settings didn't help. The Model itself is super simple and without the Gazebo Pacer Block it can be forced to run something like real-time.

Is it even possible to get the Simulnk-Gazebo Co-Simulation running in real time?

Best regards,

Samuel

Answer 1

[Tohru Kikawada]

It might be hard to perform the real-time co-simulation. As you may know, the two solvers try to be synchronized and it basically prevents the concurrency of the simulation. To perform the real-time simulation with the "best effort" configuration, you may want to use ROS to communicate each solver, but it would not be synchronized and deterministic though.