Usage

To use pygazebo in a project, first import, then instantiate a Manager:

from trollius import From
import pygazebo

manager = yield From(pygazebo.connect(('localhost', 11345)))

Then, individual topics can be published or subscribed using the advertise or subscribe methods.

To publish:

publisher = yield From(
    manager.advertise('/gazebo/default/topic',
                      'gazebo.msgs.GzString'))
yield From(publisher.publish(
    pygazebo.msg.gz_string_pb2.GzString(data='hello')))

And to subscribe:

def callback(data):
    message = pygazebo.msg.gz_string_pb2.GzString.FromString(data)
    print('Received message:', message.data)

manager.subscribe('/gazebo/default/topic',
                  'gazebo.msgs.GzString',
                  callback)

The library is built with trollius. No external methods are coroutines (they only return Futures) and can thus operate in any application which is already using a trollius or asyncio event loop even if coroutines are not used.