Commands are given through the GUI which are passed over to Shared Memory.

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 one or the other. I don't know why, ask KAIST HUBO lab members or something.

1. Start a new session
2. Include PODO GUI, Daemon, PODO Launcher .pro files in your session
3. Rebuild on new computers
4. Launch PODO first, then the rest

Gazebo is run on a sepearte PC to simulate HUBO, the motion PC. In order to run the simulation you have to

1. Open a terminal and start a ROS masternode
2. Launch the drc_hubo launch file in the drc_podo_connector directory
3. Check that the motion PC is connected to the simulator PC by checking the IP address