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is it necessary the communication client-server ?

asked 2014-10-18 03:55:58 -0500

djou07 gravatar image


I am new to Gazebo, and I want to know if there is a way to integrate directly my own controller without using the client-server. Because if I do an evolution of the robot with genetic algorithm, I think the execution time will be important (the communication between client-server, sensors-actuators,..) and I don't know if the development of the code will be limited.

sorry for my bad English and thanks in advance.

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answered 2014-10-18 08:46:41 -0500

SL Remy gravatar image

You can consider writing a plugin.

A plugin is a chunk of code that is compiled as a shared library and inserted into the simulation. The plugin has direct access to all the functionality of Gazebo through the standard C++ classes.

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So with the use of plugins we have a direct access to the classes of Gazebo, but there is always a communication betwen the client and the server..

djou07 gravatar imagedjou07 ( 2014-10-19 08:39:53 -0500 )edit
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Asked: 2014-10-18 03:55:58 -0500

Seen: 164 times

Last updated: Oct 18 '14