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TCP vs Plugin interface. What is better?

asked 2013-07-01 12:56:51 -0500

Olzhas gravatar image

updated 2013-07-01 12:57:23 -0500

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?

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answered 2013-07-01 17:57:28 -0500

nkoenig gravatar image

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.

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Asked: 2013-07-01 12:56:51 -0500

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Last updated: Jul 01 '13