A Python package for rapid-prototyping and scripting of simulations for Gazebo
The pcg_gazebo Python package is an Open Source Project extending the simulation capabilities of the robotics simulator Gazebo for automation and scripting of Gazebo simulations.
Visit the documentation page for more information.
Purpose of the project
This software is a research prototype.
The software is not ready for production use. It has neither been developed nor tested for a specific use case. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).
You can install the pcg-gazebo package using pip as follows
pip install pcg-gazebo
you still might need to install some extra dependencies that cannot be handled by pip as
sudo apt install libspatialindex-dev pybind11-dev libgeos-dev
Give some issues with the package rtree on pip, it would also be recommended to install it from apt. Please install python-rtree if you are using Python 2.x or python3-rtree for Python 3.x.
The default installation does not include rospy dependencies that are not available as a pip package. They have to be installed separately for certain submodules to work, such as pcg_gazebo.task_manager.
First install some non-Python dependencies
sudo apt install libspatialindex-dev pybind11-dev libgeos-dev libfcl-dev liboctomap-dev
Then clone the repository and install it using pip
git clone https://github.com/boschresearch/pcg_gazebo.git cd pcg_gazebo pip install .
Using the package with ROS and Gazebo
Certain functionalities as the Gazebo proxy, task manager and model spawning are only available if rospy is installed. The lack of Gazebo and rospy only restricts functionalities related to interaction with the simulation in runtime and the creation of ROS-related tasks.
At the moment, ROS 2 is not supported for this purpose. To install ROS melodic, follow these installation instructions and install ros-melodic-desktop-full or separately install Gazebo and its ROS bindings as
sudo apt install gazebo9 libgazebo9-dev ros-melodic-gazebo-*
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