Robotics StackExchange | Archived questions

Gazebo Transport Systems: Questions about reliability

Hi Guys,

i am working with the Gazebo transport system to communicate between different plugins, thereby, some questions arise:

Best regards!

Asked by Illuminatur on 2016-03-30 07:26:59 UTC

Comments

Answers

The gazebo transport mechanism is based on TCP. If a publisher starts sending messages before a subscriber is connected to a topic, then the subscriber could miss some messages.

Gazebo messages do not have sequence numbers. Some messages have timestamps, but not all. You could write your own messages that include these fields.

Asked by nkoenig on 2016-03-30 15:43:16 UTC

Comments

You write that the transport mechanism is based on TCP. However, I don't see any messages in Wireshark on the loopback network. Am I looking at the wrong network or do messages between plugins of the same gzserver process not show up on the network?

The reason that I ask is that I see message drops (callbacks set up with transport::Subscribe are not always called) especially when the simulation rate is higher and/or CPU load is higher.

Asked by Julian Oes on 2018-12-04 07:09:14 UTC

Messages between nodes in the same process will not show up on wireshark. These messages are transmitted internally.

Asked by nkoenig on 2018-12-06 11:36:57 UTC