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Protocol Documentation for Simulator

asked 2012-11-05 20:43:38 -0500

gerkey gravatar image

(Forwarded from DRC Forum)

Hi All,

I am new to Gazebo/ROS, and the DRC Simulator, and I am looking for documentation on the TCP/IP Protocol for communicating with the DRC Robot Simulator. I am assuming the SDF file is like a Rosetta Stone for the DRC Robot hardware, however, some API documentation on defined Data Inputs and Outputs, IP Address, Port number, and other details for the DRC Simulator would be super helpful. Please help!

Sincerely,

Aaron

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answered 2013-01-11 19:55:38 -0500

gerkey gravatar image

The ROS API for the drcsim will appear in the User Guide. We're aiming to fill that in with the drcsim 2.0 release.

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answered 2012-11-06 17:11:18 -0500

nkoenig gravatar image

updated 2012-11-06 17:13:08 -0500

Hello,

Gazebo uses message passing over sockets for communication between the server and clients. The server runs the physics engine and sensor generation, and clients are the graphical interface and command line tools.

A master is used to associate a server with a client. The Gazebo master is specified by the GAZEBO_MASTER_URI environment variable.

The command line tool "gztopic" will list all the topics and info about the topics for a running simulation. This is a good tool to discover the various publishers and subscribers within Gazebo.

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Nate, I assume that the gazebo server will also be publishing using ROS topics, which will be the primary way to send commands to joints, get joint states, get LIDAR info, etc? You answer above is useful for Gazebo client programming, but possibly not functionally equivalent to using the ROS topics

pbeeson gravatar imagepbeeson ( 2012-12-19 17:17:19 -0500 )edit
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Asked: 2012-11-05 20:43:38 -0500

Seen: 441 times

Last updated: Jan 11 '13