Control A Differential-Drive Robot in Gazebo With Simulink

I'm not able to find <differentialDriveRobot.world> file in Gazebo Plugin/world folder when trying to execute the following tutorial - "https://se.mathworks.com/help/robotics/ug/control-a-differential-drive-robot-in-simulink-and-gazebo.html#ControlADifferentialDriveRobotInGazeboWithSimulinkExample-8".

Do I have to create a my own differentialDriveRobot.world file ??

Answer 1

[Gaurav Bhosale]

Hi Shounak,

There is no need to create differentialDriveRobot.world file.

The differentialDriveRobot.world is available only in shipped VM

https://www.mathworks.com/support/product/robotics/ros2-vm-installation-instructions-v3.html

You need to download VM and launch VM.

You can find more instructions in

https://www.mathworks.com/help/robotics/ug/control-a-differential-drive-robot-in-simulink-and-gazebo.html

Please let me know, if you are not able to find it.

[Shounak Chakraborty]

Thanks for the inputs.

Apparently, I was able to make my own differentialDriveRobot.world file and make this task work. But I'm not able to incorporate the range sensor into it for the next task "Simulate a Mobile Robot in a Warehouse Using Gazebo".

I think I should install the VM and do the VM version of it, to avoid further confusions.

Thanks again.

-Shounak

[Shounak Chakraborty]

Also it would be really helpful if you have the "differentialDriveRobot.world " file, can you please share it. I'll try with my existing Gazebo installed in my Linux.

Thanks

[John]

This is an old thread, but I'll post this here anyhow. It would be nice to be able to obtain these world files without having to download the whole VM image.

[charles]

hello for this i would like to add my own four differential drive robot model in gazebo for simulation is it possible can i do that .. if can i do it, can i do it with the .xacro file in the launch folder

Answer 2

[yaoxing wei]

When I use the

packageGazeboPlugin

command, the folder I get does not contain

differentialDriveRobot.world

Matlab 2020b

You can download the VM image file according to the instructions here：

https://www.mathworks.com/support/product/robotics/ros2-vm-installation-instructions-v4.html

The differentialDriveRobot.world file inside