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How actuators and sensonrs communicate in Gazebo ?


I know that interface in Gazebo is with plugins and sockets (or a middleware like ROS). Plugins provides users a direct access to Gazebo libraries (so we can change for example properties of a model directly) and sockets are used to communication between server and client and enter-process.

But what I don't understand is how sensors and actuators communicate ?

I am a bit confused ?

Thanks in advance