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

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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

Respuestas (1)

Gaurav Bhosale
Gaurav Bhosale el 20 de Mayo de 2022
Editada: Gaurav Bhosale el 20 de Mayo de 2022
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 comentario
Jon Aztiria
Jon Aztiria el 25 de Mayo de 2022
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!

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