Tutorials #175
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Tutorials #175
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diegoferigo
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traversaro
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May 13, 2019
| The `model.urdf` we used in the previous tutorial, beyond defining the description of the robot kinematics, also contains few gazebo plugins that expose a network interface of the simulated robot that matches the network interface of the real robot. Through these plugins we can get measurements and set references of a simulated robot by reading / writing YARP ports. This means that data shared between Simulink and Gazebo pass through the YARP middleware. | ||
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| !!! note | ||
| Beyond mere IPC feature, this setup allows us to use the very same Simulink model to control both simulated and real robot, where the only difference between these two setups is the name of the YARP ports of the endpoint. |
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I would write explicitly Inter-Process Communication (IPC), IPC can be an unknown acronym for new users.
traversaro
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Nov 25, 2021
It does not make sense to wait for merging this. If they are problems in the docs, they can be reported even after the docs have been merged. |
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Closes partially #99
cc @aikolina @traversaro @DanielePucci