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local communication in Gazebo

asked 2014-06-28 11:39:55 -0500

z.xing gravatar image

I'm new to Gazebo. What's the easiest way to let the robots communicate with each other?

What I really need is local communication, meaning a robot will only be able to communication with another if they are within a certain range, say 1m, of each other.

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answered 2014-07-03 08:51:07 -0500

nkoenig gravatar image

You could write a model plugin that communicates over a topic using a custom protobuf message that includes the sender's pose. The recipient of the message will have to check the pose to make sure it's within range.

Alternatively, you could write a World Plugin to manage communication. Use one topic for outbound traffic, which is received by the world plugin and passed along to robots that are within range on a different topic.

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Asked: 2014-06-28 11:39:55 -0500

Seen: 84 times

Last updated: Jul 03 '14