gazebo(2):Gazebo Architecture

Uses a distributed architecture with seperate libiraries for 
    physics simulation\
    rendering\
    user interface\
    communication\
    sensor generation

The gzclient and gzserver communicate using the gazebo communication library.

Communication Between Processes

Use the open source "Google Protobuf" for the message serialization 
Use the boost::ASIO for the transport mechanism.

The communication library supports the publish and subscribe communication paradigm.
	The simulated world publishes body pose updates
	The sensor generation and GUI will consume (use) these messages to produce output.

System

Gazebo Master

A topic server.

it provides 
	name lookup, 
	topic management. And
	can handle multiple 
		physics simulations
		sensor generators
		GUIs

Communication Library

communication and transport mechanism for Gazebo.

support only publish / subscribe. use the RPC 

Physics Library

It provides a simple and generic (common) interface to fundamental simulation components, including 
	rigid bodies,
	collision shapes, 
	joints.
	
A model described in the SDF using XML can be loaded by each of these phsics engines.

Rending Library, Sensor Generation, GUI and Plugins

Screenshot save location

saving to "~/.gazebo/pictures" with a timestamped filename.