concept

Backgrounds

Ubicoders' Virtual Rorobts simulation is based on publish-subscribe pattern.

Default publishers

Each virtual robot in the sim publishes topics like

• vr/[system_id]/states
• vr/[system_id]/cam/left/720p

Default subscribers

By default, the sim subscribes command inputs like

• vr/[system_id]/cmd

Service request

The service is a one-time request-response transport.

The sim has default service servier at

• vr/service