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TCP vs Plugin interface. What is better?

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 easier to integrate with real robot?

TCP vs Plugin interface. What is better?

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?