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gzlink

Assign and retrieve Gazebo model link information

    Description

    example

    List = gzlink("list",modelname) returns and displays a list of link names List in the specified Gazebo model modelname.

    [Status,Message] = gzlink("set",modelname,linkname,Name,Value) assigns values to the link parameters using one or more name-value pair arguments for the specified Gazebo model modelname and the link linkname. The function returns the status of the value assignments Status and the message of their success and failure Message. For example, gzlink("set","unit_box","link","Position",[2 2 0.5]) sets the position of the link in the model unit_box.

    [Output1,...,OutputN] = gzlink("get",modelname,linkname,params) retrieves values of the link parameters using one or more parameter name, params, for the specified Gazebo model modelname and the link linkname. The function returns one or more outputs, Output1,...,OutputN, corresponding to the specified parameter names.

    Examples

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    Set up a simulation between MATLAB and Gazebo, receive data from Gazebo, and send commands to Gazebo.

    Download the Linux virtual machine (VM) with Gazebo installed from Virtual Machine with ROS and Gazebo.

    Set up multiSensorPluginTest.world by following the Gazebo simulation environment setup and launch steps in Perform Co-Simulation between Simulink and Gazebo.

    Configure and Perform Gazebo Co-Simulation

    Initialize connection settings and check connectivity with the Gazebo plugin running on 192.168.198.129 and port 14581.

    gzinit("192.168.198.129",14581)

    Assign and Retrieve Gazebo Model Information

    List the models available in the Gazebo world.

    modelList = gzmodel("list")
    modelList = 1×11 string
        "ground_plane"    "unit_box"    "camera0"    "camera1"    "depth_camera0"    "depth_camera1"    "imu0"    "imu1"    "hokuyo0"    "hokuyo1"    "velodyne"
    
    

    Assign values to the Position and SelfCollide parameters of the unit_box model.

    [status,message] = gzmodel("set","unit_box","Position",[2 2 0.5],"SelfCollide","on")
    status = 1×2 logical array
    
       1   1
    
    
    message = 1×2 string
        "Position parameter set successfully."    "SelfCollide parameter set successfully."
    
    

    Retrieve the values of the Position and SelfCollide parameters of the unit_box model.

    [position,selfcollide] = gzmodel("get","unit_box","Position","SelfCollide")
    position = 1×3
    
                             2                         2           0.4999999999951
    
    
    selfcollide = logical
       1
    
    

    Assign and Retrieve Gazebo Model Link Information

    List the links available in the unit_box model.

    linkList = gzlink("list","unit_box")
    linkList = 
    "link"
    

    Assign values to the link parameters Mass and Gravity of the link link in the unit_box model.

    [status,message] = gzlink("set","unit_box","link","Mass",2,"Gravity","off")
    status = 1×2 logical array
    
       1   1
    
    
    message = 1×2 string
        "Mass parameter set successfully."    "Gravity parameter set successfully."
    
    

    Retrieve the values of the link parameters Mass and Gravity of the link link in the unit_box model.

    [mass,gravity] = gzlink("get","unit_box","link","Mass","Gravity")
    mass = 
         2
    
    
    gravity = logical
       0
    
    

    Assign and Retrieve Gazebo Model Joint Information

    List the joints available in the unit_box model.

    jointList = gzjoint("list","unit_box")
    jointList = 
    "joint"
    

    Assign a value to the joint parameter Damping of the axis Axis0 for the joint joint in the unit_box model.

    [status,message] = gzjoint("set","unit_box","joint","Axis","0","Damping",0.25)
    status = logical
       1
    
    
    message = 
    "Damping parameter set successfully."
    

    Retrieve the value of the joint parameter Damping of the axis Axis0 for the joint joint in the unit_box model.

    damping = gzjoint("get","unit_box","joint","Axis0","Damping")
    damping = 
                          0.25
    
    

    Reset all Gazebo model configurations.

    gzworld("reset")

    Input Arguments

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    Gazebo model name, specified as a string scalar or character vector.

    Data Types: char | string

    Associated link name, specified as a string scalar or character vector.

    Data Types: char | string

    Gazebo model link parameters, specified as a comma-separated list of string scalars or character vectors. Specify the list of parameters you want to retrieve the values, from this table.

    ParametersDescription
    "Canonical"

    Get the canonical parameter of the Gazebo model link.

    "EnableWind"

    Get the wind parameter of the Gazebo model link.

    "Gravity"

    Get the gravity parameter of the Gazebo model link.

    "IsStatic"

    Get the IsStatic parameter of the Gazebo model link.

    "Kinematic"

    Get the kinematic parameter of the Gazebo model link.

    "Mass"

    Get the mass parameter of the Gazebo model link.

    "Orientation"

    Get the orientation parameter of the Gazebo model link.

    "Position"

    Get the position parameter of the Gazebo model link.

    "PrincipalMoments"

    Get the principal moments parameter of the Gazebo model link.

    "ProductOfInertia"

    Get the product of inertia parameter of the Gazebo model link.

    "SelfCollide"

    Get the SelfCollide parameter of the Gazebo model link.

    Example: [mass,gravity] = gzlink("get","unit_box","link","Mass","Gravity")

    Data Types: char | string

    Name-Value Arguments

    Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

    Example: For example, gzlink("set","unit_box","link","Position",[2 2 0.5]) sets the position of the link in the model unit_box.

    Gazebo model link canonical parameter, specified as the comma-separated pair consisting of 'Canonical' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","Canonical","off");

    Data Types: char | string

    Gazebo model link wind parameter, specified as the comma-separated pair consisting of 'EnableWind' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","EnableWind","off");

    Data Types: char | string

    Gazebo model link gravity parameter, specified as the comma-separated pair consisting of 'Gravity' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","Gravity","off");

    Data Types: char | string

    Gazebo model link IsStatic parameter, specified as the comma-separated pair consisting of 'IsStatic' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","IsStatic","off");

    Data Types: char | string

    Gazebo model link kinematic parameter, specified as the comma-separated pair consisting of 'Kinematic' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","Kinematic","off");

    Data Types: char | string

    Gazebo model link mass parameter, specified as the comma-separated pair consisting of 'Mass' and a numeric scalar in kilograms.

    Example: [status,message] = gzlink("set","unit_box","link","Mass",1);

    Data Types: single | double

    Gazebo model link orientation parameter, specified as the comma-separated pair consisting of 'Orientation' and a four-element quaternion vector of the form [w x y z].

    Example: [status,message] = gzlink("set","unit_box","link","Orientation",[1 0 0 0]);

    Data Types: single | double

    Gazebo model link position parameter, specified as the comma-separated pair consisting of 'Position' and a three-element vector of the form [x y z] in meters.

    Example: [status,message] = gzlink("set","unit_box","link","Position",[0 0 0]);

    Data Types: single | double

    Gazebo model link principal moments parameter, specified as the comma-separated pair consisting of 'PrincipalMoments' and a three-element vector of the form [ixx iyy izz] in kilogram square meters.

    Example: [status,message] = gzlink("set","unit_box","link","PrincipalMoments",[0 0 0]);

    Data Types: single | double

    Gazebo model link product of inertia parameter, specified as the comma-separated pair consisting of 'ProductOfInertia' and a three-element vector of the form [ixy ixz iyz] in kilogram square meters.

    Example: [status,message] = gzlink("set","unit_box","link","ProductOfInertia",[0 0 0]);

    Data Types: single | double

    Gazebo model link SelfCollide parameter, specified as the comma-separated pair consisting of 'SelfCollide' and either 'on' or 'off'.

    Example: [status,message] = gzlink("set","unit_box","link","SelfCollide","off");

    Data Types: char | string

    Output Arguments

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    List of links in the model, returned as a cell array of character vectors.

    Status of the values assigned to the parameters, returned as a logical array.

    Success or failure message, returned as a string array.

    Values of specified parameters, returned as a logical or numeric vector based on the specified parameters. The following table shows the returned data type of parameter values.

    ParametersDescription
    "Canonical"

    Gazebo model link canonical parameter, returns a logical scalar.

    "EnableWind"

    Gazebo model link wind parameter, returns a logical scalar.

    "Gravity"

    Gazebo model link gravity parameter, returns a logical scalar.

    "IsStatic"

    Gazebo model link IsStatic parameter, returns a logical scalar.

    "Kinematic"

    Gazebo model link kinematic parameter, returns a logical scalar.

    "Mass"

    Gazebo model link mass parameter, returns a numeric scalar in kilograms.

    "Orientation"

    Gazebo model link orientation parameter, returns a four-element quaternion vector of the form [w x y z].

    "Position"

    Gazebo model link position parameter, returns a three-element vector of the form [x y z] in meters.

    "PrincipalMoments"

    Gazebo model link principal moments parameter, returns a three-element vector of the form [ixx iyy izz] in kilogram square meters.

    "ProductOfInertia"

    Gazebo model link product of inertia parameter, returns a three-element vector of the form [ixy ixz iyz] in kilogram square meters.

    "SelfCollide"

    Gazebo model link SelfCollide parameter, returns a logical scalar.

    Limitations

    • gzlink function not supported with MATLAB® Compiler™.

    Introduced in R2021a