Plugin Inter-communication and Timing

edit

Hi,

I have the following setup in Gazebo 2.2.5:

1. Plugin A publishes a .proto message at every ConnectWorldUpdateBegin event.

2. Plugin B: subscribes to the above message AND runs a method at every ConnectWorldUpdateBegin event. This method works on the last received message.

Now my questions are:

1. Is there any synchronization happening between the Gazebo message passing and raising the ConnectWorldUpdateBegin events? Can I assume the maximum delay in the messages in my setting above is one period (i.e., one update step)

2. Is there a mechanism to directly call another plugin's public method? Is there a reason for having the following variable private in Model.hh? (calling directly would make things more deterministic)

   private: std::vector<modelpluginptr> plugins;

Thank you for your time.

G