This package provides a python API to interact with the Gazebo multi-robot simulator, http://www.gazebosim.org. Gazebo is a multi-robot simulator for outdoor environments. Like Stage, it is capable of simulating a population of robots, sensors and objects, but does so in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects (it includes an accurate simulation of rigid-body physics).
pygazebo implements the Gazebo network publish-subscribe protocol, so that python applications can seamlessly interact with Gazebo entities.
pygazebo is based on eventlet for asynchronous network operations.
Create a connection to the Gazebo server.
The Manager instance creates a connection to the Gazebo server, then allows the client to either advertise topics for publication, or to listen to other publishers.
Parameters: | address (a tuple of (‘host’, port)) – destination TCP server |
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Returns: | a Future indicating when the connection is ready |
Publishes data to the Gazebo publish-subscribe bus.
Variables: |
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Publish a new instance of this data.
Parameters: | msg (google.protobuf.Message instance) – the message to publish |
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Returns: | a future which completes when the data has been written |
Stop advertising this topic.
Note: Once remove() is called, no further methods should be called.
Return a Future which is complete when at least one listener is present.
Receives data from the Gazebo publish-subscribe bus.
Variables: |
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