Gazebo Blank Message

Create blank Gazebo command

• Library:

• Robotics System Toolbox / Gazebo Co-Simulation

• 

×

Description

The Gazebo Blank Message block creates a blank Gazebo message or a 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

Msg — Blank message

bus

Blank message, output as a bus signal. with elements relevant to the specific Message type.

The Msg output always outputs the most recent message received.

Data Types: bus

Parameters

Message type — Type of message

ApplyLinkWrench (default) | ApplyJointTorque | SetLinkWorldPose | SetLinkLinearVelocity | SetLinkAngularVelocity | SetJointPosition | SetJointVelocity

Click Select to get a list of message types available in Gazebo.

Sample time — Sampling time of input

0.001 (default) | positive

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

Set up a synchronized simulation between Simulink™ and Gazebo to send commands and receive data from Gazebo.