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MATLAB CONT AINER N-TH SIMULATION CONT AINER
JOINT TRAJECTORY
CONTROLLER
/ r o b o t b l o c k s e t _
t a l o s _ n o d e
Coordinating script
/ s i m _ n
/ b o d y _ c o n t r o l l e r s
_ s p a w n e r
/ s i m _ n
/ g a z e b o
ROS_CONTROL
PLUG-IN
/ s i m _ n /
r o b o t _ s t a t e
_ p u b l i s h e r
ROS action interface
ROS topic interface

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