# pcg_gazebo: A Python package for rapid-prototyping and scripting of simulations for Gazebo

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The pcg_gazebo Python package is an Open Source Project extending the simulation capabilities of the robotics simulator [Gazebo](http://gazebosim.org/) for automation and scripting of Gazebo simulations.

Visit the [documentation page](https://boschresearch.github.io/pcg_gazebo/) 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).

## Installation

### Using pip

You can install the pcg-gazebo package using pip as follows

`bash 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 `

> 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.

### From source

First install some non-Python dependencies

` sudo apt install libspatialindex-dev pybind11-dev libgeos-dev `

Then clone the repository and install it using pip

` git clone https://github.com/boschresearch/pcg_gazebo.git 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](https://wiki.ros.org/melodic/Installation/Ubuntu) and install ros-melodic-desktop-full or separately install Gazebo and its ROS bindings as

` sudo apt install gazebo9 libgazebo9-dev ros-melodic-gazebo-* `

## License

Procedural Generation for Gazebo is open-sourced under the Apache-2.0 license. See the [LICENSE](https://github.com/boschresearch/pcg_gazebo/blob/master/LICENSE) file for details.

For a list of other open source components included in Procedural Generation for Gazebo package, see the file [3rd-party-licenses](https://github.com/boschresearch/pcg_gazebo/blob/master/3rd-party-licenses.md).

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Credits

Author/Maintainer: Musa Morena Marcusso Manhaes

License

Apache Software License (Apache-2.0)

Tags

gazebo ros simulation robotics sdf urdf robot

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