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Python bindings for the Gazebo multi-robot simulator.

Project description

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pygazebo provides python bindings for the Gazebo (http://gazebosim.org) multi-robot simulator.

Features

  • Supports publishing and subscribing to any Gazebo topics using a straightforward python API.
  • Python versions of all defined Gazebo protobuf messages are included.
  • Based on asyncio/trollius for flexible concurrency support.

Simple Usage

The following example shows how easy it is to publish a message repeatedly to control a single joint in a Gazebo model running on the local machine on the default port.

import trollius
from trollius import From

import pygazebo
import pygazebo.msg.joint_cmd_pb2

@trollius.coroutine
def publish_loop():
    manager = yield From(pygazebo.connect())

    publisher = yield From(
        manager.advertise('/gazebo/default/model/joint_cmd',
                          'gazebo.msgs.JointCmd'))

    message = pygazebo.msg.joint_cmd_pb2.JointCmd()
    message.axis = 0
    message.force = 1.0

    while True:
        yield From(publisher.publish(message))
        yield From(trollius.sleep(1.0))

loop = trollius.get_event_loop()
loop.run_until_complete(publish_loop())

History

3.0.0-2014.1 (2014-07-04)

  • Switch from eventlet to trollius/asyncio, for better compatibility with other event loops and future python versions.
  • Update to gazebo 3.0.0

2.2.1-2014.2 (2014-06-04)

  • Properly support sending and receiving large messages.

2.2.1-2014.1 (2014-02-11)

  • First release on PyPI.

Project details


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