Skip to content

Setup Guide

This guide provides step-by-step instructions to configure the Webots-Simulink Bridge on your system.

1. Install Webots

Download and install Webots from the official website:

  1. Visit https://cyberbotics.com/ and download Webots R2023a or later
  2. Run the installer and follow the on-screen instructions
  3. Verify the installation by launching Webots and opening a sample world

Platform-Specific Installation

1. Download the .exe installer
2. Run the installer as Administrator
3. Default path: C:\Program Files\Webots

sudo apt update
sudo apt install webots

1. Download the .dmg file
2. Drag Webots to Applications folder
3. Allow the app in Security & Privacy settings
  1. Download MATLAB from MathWorks
  2. During installation, select the following products:
  3. MATLAB
  4. Simulink
  5. MATLAB Coder
  6. Control System Toolbox (recommended)
  7. Complete the installation and activate your license

Verify Toolbox Installation

Run the following command in MATLAB to confirm installed toolboxes:

ver

3. Configure MATLAB Path

Add the Webots MATLAB controller library to your MATLAB path:

setup

Manual Path Configuration

% Add Webots MATLAB library path
addpath('C:\Program Files\Webots\lib\controller\matlab');
savepath;

% Add Webots MATLAB library path
addpath('/usr/local/webots/lib/controller/matlab');
savepath;

% Add Webots MATLAB library path
addpath('/Applications/Webots.app/Contents/lib/controller/matlab');
savepath;

Verify Path Configuration

% Check if Webots functions are accessible
which wb_robot_init

If the path is correct, MATLAB displays the full path to the function file.

4. Configure Environment Variables

Set the WEBOTS_HOME environment variable to point to your Webots installation:

1. Open System Properties → Environment Variables
2. Add new System variable:
   - Name: WEBOTS_HOME
   - Value: C:\Program Files\Webots
3. Restart MATLAB

# Add to ~/.bashrc
export WEBOTS_HOME=/usr/local/webots
export LD_LIBRARY_PATH=$WEBOTS_HOME/lib/controller:$LD_LIBRARY_PATH

# Apply changes
source ~/.bashrc

# Add to ~/.zshrc or ~/.bash_profile
export WEBOTS_HOME=/Applications/Webots.app/Contents
export DYLD_LIBRARY_PATH=$WEBOTS_HOME/lib/controller:$DYLD_LIBRARY_PATH

# Apply changes
source ~/.zshrc

5. Configure C Compiler

MATLAB requires a C compiler for MEX file generation. Configure the compiler:

% Check available compilers
mex -setup

% Select C compiler
mex -setup C

Install MinGW-w64 (Windows)

If no compiler is found on Windows:

  1. Open MATLAB
  2. Go to Home → Add-Ons → Get Add-Ons
  3. Search for "MinGW-w64"
  4. Install "MATLAB Support for MinGW-w64 C/C++ Compiler"
  5. Restart MATLAB

6. Clone the Project Repository

Clone the Webots-Simulink Bridge repository:

git clone https://github.com/harunkurtdev/webots-simulink.git
cd webots-simulink

Add the project to MATLAB path:

% Add project folders to path
addpath(genpath('path/to/webots-simulink'));
savepath;

7. Verify Installation

Run the following commands to verify your setup:

% Check MATLAB version
version

% Check Simulink
ver Simulink

% Check if Webots library is accessible
exist('wb_robot_init', 'file')

% Check compiler
mex -setup

Expected output: - MATLAB version should be R2020b or later - Simulink should be installed - wb_robot_init should return 2 (function exists) - A C compiler should be configured

Troubleshooting

Issue Solution
wb_robot_init not found Verify Webots path is added correctly
Compiler not found Install MinGW-w64 via MATLAB Add-Ons
Library load error Check WEBOTS_HOME environment variable
Permission denied (Linux) Run sudo ldconfig after setting library path

Next Steps

After completing the setup, proceed to the Connecting Guide to learn how to establish communication between Webots and Simulink.