gazebo-yarp-synchronizer

Synchronization with Gazebo Classic via YARP. With Python batteries.

This project is the client side of the Clock Plugin included in robotology/gazebo-yarp-plugins, with some sugar on top. It provides GazeboYarpSynchronizer, a new class that extends the automatically generated resources from the thrift service and provides initialization and termination helpers.

The main scope of this repository is providing a PyPI package for Python usage, but nothing prevents importing and using it from plain C++.

Dependencies

gazebo-yarp-synchronizer expects to find installed and configured the following dependencies:

• robotology/yarp
• robotology/gazebo-yarp-plugins
• osrf/gazebo

Installation

pip3 install gazebo-yarp-synchronizer

Usage

In different terminals, execute:

# 1. Start the YARP server
yarpserver

# 2. Open Gazebo paused
gazebo -u -slibgazebo_yarp_clock.so

# 3. Make sure that YARP is running
yarp detect

# 4. Open the Python interpreter
ipython

Then, in the Python interpreter:

# Import the module
>>> from gazebo_yarp_synchronizer import GazeboYarpSynchronizer

# Create the Gazebo synchronizer
>>> gys = GazeboYarpSynchronizer(gazebo_rpc_port_name="/clock/rpc")

# Initialize the Gazebo synchronizer
>>> gys.init()
# [INFO] |yarp.os.Port| Port /tmp/port/1 active at tcp://192.168.8.102:10056/
# [INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /tmp/port/1 to /clock/rpc using tcp

# Inspect simulation status
>>> gys.get_step_size(), gys.get_simulation_time()
# (0.001, 0.0)

# Advance the simulation synchronously
>>> gys.step_simulation_and_wait(number_of_steps=250)

# Print time
>>> gys.get_simulation_time()
# 0.25

# Advance the simulation synchronously
>>> gys.run_simulation_and_wait(duration=0.75)

# Print time
>>> gys.get_simulation_time()
# 1.0

# Terminate the synchronizer
>>> gys.fini()
# [INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /tmp/port/1 to /clock/rpc

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

License

MIT