According to official documentation there are two ways for an interaction with a robot in simulation: TCP and Plugin interface. What is better? Could you write pros and cons of each. And what will be easier to integrate with real robot?
The two ways of interaction are very different, and are designed to facilitate different use cases.
A plugin has direct access to the Gazebo internals through the C++ api. A plugin also runs in the same process as Gazebo.
Message passing does not have direct access to the C++ api, but it does allow you to run code in a separate process (or on a different machine) from Gazebo.
Asked: 2013-07-01 12:56:51 -0600
Seen: 204 times
Last updated: Jul 01 '13
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