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.
- 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.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())rosrun pygazebo_ros_gazebo_elevator call_elevator_srv.py
rosservice call /call_elevator "floor_num: <choose_floor_number>"Force pip to instal protobuf with python2:
$ python -m pip install protobuf
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