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Gazebo Simulation Environment Requirements and Limitations

Robotics System Toolbox™ provides an interface for a simulation environment visualized using the Gazebo Simulator. Gazebo enables you to test and experiment using robots in realistically simulated physical scenarios with high quality graphics.

Gazebo runs on Linux® machines or Linux virtual machines, and uses a plugin package to communicate with MATLAB® and Simulink®. When simulating in Gazebo, the requirements and limitations in mind.

Run Gazebo Simulator on Linux Virtual Machine

Download and install the virtual machine (VM) from Virtual Machine with ROS and Gazebo. In the VM, the required Gazebo plugin is located in the /home/user/src/GazeboPlugin folder. The VM contains these software and has these hardware requirements.

Software Included in VM

  • Operating System — Ubuntu® 18.04 LTS (Bionic Beaver)

  • Software packages — CMake 2.8 or later, Gazebo 9, and the Gazebo plugin

Minimum Hardware Requirements

  • Processor (CPU) — Quad core Intel® i5, or equivalent

  • Memory (RAM) — 4 GB or more

  • Graphics card (GPU) — Dedicated GPU with 1 GB or more graphics memory

  • Disk space — At least 20 GB free disk space

Install and Run Gazebo Simulator on Linux Machine

You can also install and run the Gazebo Simulator on a Linux machine.

Software Requirements

  • Operating System — Ubuntu 16.04 LTS (Xenial Xerus) or Ubuntu 18.04 LTS (Bionic Beaver)

  • Software packages — CMake 2.8 or later, Gazebo 9 or Gazebo 10, and the Gazebo plugin

Minimum Hardware Requirements

  • Processor (CPU) — Quad core Intel i5, or equivalent

  • Memory (RAM) — 4 GB or more

  • Graphics card (GPU) — Dedicated GPU with 1 GB or more graphics memory

  • Disk space — At least 500 MB free disk space

Gazebo Simulator Installation

Install the CMake and Gazebo packages on Ubuntu by running these commands at the Linux terminal.

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install cmake gazebo9 libgazebo9-dev

Note

Gazebo co-simulation framework supports Gazebo 9 and Gazebo 10.

Gazebo Plugin Installation

  1. Create a Gazebo plugin package on the host computer in MATLAB by using the packageGazeboPlugin function. This function creates a folder called GazeboPlugin in your current working directory and compresses it into a GazeboPlugin.zip file.

    packageGazeboPlugin

  2. Copy GazeboPlugin.zip to the home directory of your Linux machine.

  3. Create a directory, src, and unzip the plugin package to that directory.

    mkdir src
    unzip GazeboPlugin.zip -d ~/src/

  4. Change the directory to the uncompressed GazeboPlugin folder.

    cd ~/src/GazeboPlugin/

  5. Run these commands in the Linux terminal to compile and install the plugin.

    mkdir build
    cd build
    cmake ..
    make

  6. Optionally, you can remove the generated plugin from the host computer using MATLAB.

    if exist("GazeboPlugin","dir")
        rmdir("GazeboPlugin","s");
    end
    
    if exist("GazeboPlugin.zip","file")
        delete("GazeboPlugin.zip");
    end

Limitations

MATLAB

  • Code generation is not supported.

  • Communication between MATLAB and the Gazebo Simulator is asynchronous.

Simulink

  • Code generation is not supported.

  • Rapid accelerator mode is not supported.

Related Topics

External Websites