darknight-007/pygazebo

Python bindings for the Gazebo multi-robot simulator.

pygazebo

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

• GitHub: https://github.com/jpieper/pygazebo
• Free software: Apache 2.0 License
• Documentation: http://pygazebo.rtfd.org.

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.name = 'robot::joint_name'
    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())