Gazebo is not part of a the middleware itself, however plug-ins for Gazebo build up a connection between the middleware and the physical model. The middleware brings for this problem a visual simulation system called Gazebo. Only visual simulation of the surface is nice for a presentation, but does not express anything about the possibilities of interaction between them if they would be placed in the real environment. Every entity comes with physical representation. This makes it even possible for different versions with differ- ing interfaces to connect to the system. There is no need for a topic to be announced continuously, the nodes can be easily exchanged providing less, the same or more topics to the environment. Currently concurrent running services providing the same service will overlay each other. Each information feed which can be subscribed or published is called a topic. In our environment sensors will provide the middleware with status messages or controlling services.

Distributed systems can subscribe to feeds of other systems. In the middleware each component – called node – can provide a variable amount of services or feeds.

middleware providing the same interfaces for all components.

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