Python bindings for the Gazebo multi-robot simulator.
pygazebo provides python bindings for the Gazebo (http://gazebosim.org) multi-robot simulator.
Free software: Apache 2.0 License
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.
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())
Switch from eventlet to trollius/asyncio, for better compatibility with other event loops and future python versions.
Update to gazebo 3.0.0
Properly support sending and receiving large messages.
First release on PyPI.
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