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Gazebo Publish

Send custom messages to Gazebo server

Since R2020b

  • Gazebo Publish block

Libraries:
Robotics System Toolbox / Gazebo Co-Simulation

Description

The Gazebo Publish block sends custom messages to Gazebo server based on the topic and message type that the block specifies.

To send custom messages, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings. For more information see Configure Gazebo Simulation.

This block is part of a co-simulation interface between MATLAB® and Gazebo for exchanging data and sending commands.

Limitations

  • Models that use this block do not support Code Generation or Rapid Accelerator mode.

Ports

Input

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Gazebo custom message, specified as a bus signal, with elements relevant to the specific Topic and Message type.

Data Types: bus

Parameters

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To get a topic from an existing Gazebo simulation, select From Gazebo. Click the Select button to see a list of available topics. To connect to a Gazebo simulation, click Configure Gazebo network and simulation settings in the block mask.

To enter a custom topic without an active Gazebo connection, select Specify your own. Use the Topic parameter to type the name of the message.

Topic name of custom message, specified as a string.

To get a topic from an existing Gazebo simulation, select From Gazebo. Click the Select button to see a list of available topics. To connect to a Gazebo simulation, click Configure Gazebo network and simulation settings in the block mask.

To specify a topic without connecting, select Specify your own.

Click Select to get a list of message types available in Gazebo. If you choose your Topic from a connected Gazebo simulation, this parameter is set automatically.

Sample time indicates the interval at which messages are sent to the Gazebo simulator.

More About

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Version History

Introduced in R2020b