Gazebo Subscribe

Receive custom messages from Gazebo server

• Library:

• Robotics System Toolbox / Gazebo Co-Simulation

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Description

The Gazebo Subscribe block receives custom messages from Gazebo server based on the topic and message type that the block specifies. The block outputs the latest message received as a bus signal, Msg, and a Boolean, IsNew, which indicates whether a message was received during the previous time step.

To receive custom messages, connect to a Gazebo simulation. Open the block mask and click Configure Gazebo network and simulation settings.

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

Output

IsNew — Status of custom messages in the previous time step

0 (default) | 1

Status of the custom message received, output as a Boolean, which indicates whether the block output Msg was received in the previous time step.

Data Types: Boolean

Msg — Gazebo custom message

bus

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

The Msg output always outputs the most recent message received.

Data Types: bus

Parameters

Topic source — Source for specifying topic

From Gazebo (default) | Specify your own

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 — Topic name of custom message

/my_topic (default) | string

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.

Message type — Gazebo custom message type

gazebo_msgs/TestPose (default) | string

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 — Sampling time of input

0.001 (default) | positive

Sample time indicates the interval at which messages are received from the Gazebo simulator.