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--- software_setup_ap [2016/11/05 15:04] – created alvaropintado
+++ software_setup_ap [2016/11/05 16:43] (current) – alvaropintado
@@ Line 11: / Line 11: @@
 If the command is a low-level function it can be passed straight to Daemon, but if it is a higher-level function which requires additional processing the command must go through AL first, return to Shared Memory, then be passed to Daemon.
-From Daemon, the commands are sent either to Gazebo (simulator) or the physical HUBO. Commands can only be sent
+From Daemon, the commands are sent either to Gazebo (simulator) or the physical HUBO. Commands can only be sent one or the other. I don't know why, ask KAIST HUBO lab members or something.
 ==== Software Setup with Qt ====
-  - Start a new session
+  - Start a new session with the session manager
-  - Include PODO GUI, Daemon, PODO Launcher .pro files in your session
+  - Open PODO Launcher, PODO GUI, Daemon, AL Functions (.pro files) from Desktop/podo_original/podo_nrl/
   - Rebuild on new computers
-  - Launch PODO first, then the rest
+  - Run PODO Launcher
+  - Run Daemon Launcher
+  -
+==== Sending Gazebo Commands ====
+Gazebo is run on a separate PC to simulate HUBO, the motion PC. In order to run the simulation you have to
+  - Open a new terminal and start a ROS master node
+  - If
+  - Launch the drc_hubo launch file in the catkin workspace
+  - Check that the motion PC is connected to the simulator PC by checking the IP address