NetworkingΒΆ

From

To

Listener

Port

UDP/TCP

Description

Nao

Nao/GC

Nao/GC

10000+team

UDP

Team Communication, serialised as in memory

Nao

Offnao (PC)

Nao

10125

TCP

Debug information, serialised using protobuf

Offnao (PC)

Nao

Nao

10125

TCP

Sends commands, serialised using protobuf

Nao

GameController

GC

3939

UDP

Notifies GameController that robot is alive

GameController

Nao

Nao

3838

UDP

Sends game and player statuses

Remote Control

Nao

Nao

2000

UDP

Sends remote control signals to Nao

Simulated Nao

Offnao (PC)

Offnao

10125+6*team+player

TCP

Debug information, serialised using protobuf

Simulated Nao

rcssserver3d

rcsss3d

3100

TCP

Sends joint angles

rcssserver3d

Simulated Nao

rcsss3d

3100

TCP

Sends perceptor readings (joints, imu, etc.)

rcssserver3d

roboviz

rcsss3d

3200

TCP

Sends scene graphs

simserver

browser

ss

5000

TCP

Sends the webpage

browser

simserver

ss

5000

TCP

Launches simulations