How to implement robot from the Gazebo simulation

Hello everybody, I'm in new in robotics field. I want to start building a real robot. I done with the simulation for robot in Gazebo before from these examples: Simulate a Mobile Robot in a Warehouse Using Gazebo and A* Path Planning and Obstacle Avoidance in a Warehouse. So I already have my algorithm model in simulink which simulate with Gazebo via Gazebo block. BUT when I want to build in real world how can I send the command to the motor actuator. Can I using the Raspberry Pi to do this one? and maybe using with ROS toolbox or something. Can anyone help me with guide how to implement the real robot from the Gazebo simulation.

Thank you so much in advance.

Answer 1

[Vidip]

I understand you want to transition from simulating a robot in Gazebo with Simulink to using a real robot with Simulink and the ROS Toolbox, here are the steps:

1. Configure ROS Toolbox for Real Robot: Make sure your Simulink model is configured to use the ROS Toolbox. You should have the ROS Publish and ROS Subscribe blocks in your Simulink model to communicate with the real robot.
2. Real Robot Hardware Setup: Connect your real robot's hardware (sensors, actuators, motors, etc.) to the onboard computer. Ensure that your Simulink model interfaces with these hardware components properly.
3. ROS on Real Robot: Make sure the ROS middleware is installed and properly configured on your robot's onboard computer. You can use the same ROS version you used for simulation.
4. Deployment Computer: Deploy your Simulink model on the computer that's onboard the real robot. This computer should run ROS nodes and facilitate communication between Simulink and the robot's hardware.

For further information, refer to the documentation link below:

• https://www.mathworks.com/matlabcentral/fileexchange/128699-intelligent-bin-picking-with-simulink-for-ur5e-cobot

[Setthivadee]

Thank you for your help.