Connecting Gazebo + Simulink using libGazeboCoSimPlugin.so plugin

libGazeboCoSimPlugin.so is generated inside export/lib along with libGazeboCoSimCustom.so, libGazeboCoSimServer.so, libGazeboCoSimTransport.so, and libmsgproto.so.

But couldn't get the world file connect/link to libGazeboCoSimPlugin.so!

[Err] [Plugin.hh:178] Failed to load plugin libGazeboCoSimPlugin.so: libGazeboCoSimPlugin.so: cannot open shared object file: No such file or directory

CMake file and world file is attached!

Answer 1

[Gaurav Bhosale]

Hi Ganesh,

Look like, your world file is not able to find plugin.

You can refer Gazebo Co-Sim tutorial. Also, I will recommend checking following steps are executed correctly or not.

1] Your world file should be contained following,

<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>

2] To Launch Gazebo Simulation Environment

Open a terminal in the VM or your own Linux operating system, run the following commands to launch the Gazebo simulator.

cd /home/user/src/GazeboPlugin/export

export SVGA_VGPU10=0

gazebo ../world/multiSensorPluginTest.world --verbose

Thnaks

With Regards,

Gaurav Bhosale

[VIGNESH BALAJI]

@Gaurav Bhosale I followed the tutorial and I was unable to understand where to run this command packageGazeboPlugin

and where to download this file to unzip and put it inside a path like the statements mentione below -

"Copy the GazeboPlugin.zip to your Linux machine that meets the following requirement:

Unzip the package on your Linux platform, for this example we unpack to /home/user/src/GazeboPlugin."

I followed the documentation in this page - https://nl.mathworks.com/help/robotics/ug/perform-co-simulation-between-simulink-and-gazebo.html

Please let me know