本文介绍了Gazebo与Orocos集成的两种关键组件：RTTGazeboEmbedded和RTTGazeboClockPlugin。前者将Gazebo实例嵌入到Orocos环境中，提供机器人模型与模拟环境之间的交互接口；后者作为系统插件同步RTT时间与Gazebo模拟时间，确保两者的时间一致性。
CoSimA Overview
Gazebo/Orocos Integration Components
This Orocos RTT component embeds an instance of Gazebo into the Orocos environment. It provides an interface that allows the interaction between Gazebo and Orocos. Thus, e.g., robot models can be loaded into the simulation environment of Gazebo. The component is forked from the Institut des systèmes intelligents et de robotique (ISIR).
Gazebo system plugin to sync the RTT time to the simulation of Gazebo. This plugin will be loaded into the embedded instance of Gazebo. It is based on Antoine Hoarau’s fork.
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