======== pygazebo

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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.

.. code-block:: python

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())