https://github.com/diegoferigo/gazebo-yarp-synchronizer
Synchronization with Gazebo Classic via YARP. With Python batteries.
https://github.com/diegoferigo/gazebo-yarp-synchronizer
binding gazebo gazebo-simulator plugin pybind11 python robot robotics simulations synchronization
Last synced: 6 months ago
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Synchronization with Gazebo Classic via YARP. With Python batteries.
- Host: GitHub
- URL: https://github.com/diegoferigo/gazebo-yarp-synchronizer
- Owner: diegoferigo
- License: mit
- Created: 2021-04-30T15:23:51.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2021-07-07T10:44:23.000Z (about 4 years ago)
- Last Synced: 2025-04-15T00:47:55.758Z (6 months ago)
- Topics: binding, gazebo, gazebo-simulator, plugin, pybind11, python, robot, robotics, simulations, synchronization
- Language: CMake
- Homepage: https://pypi.org/project/gazebo-yarp-synchronizer/
- Size: 101 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# gazebo-yarp-synchronizer
[](https://pypi.org/project/gazebo-yarp-synchronizer/)
[](https://pypi.org/project/gazebo-yarp-synchronizer/)
[](https://pypi.org/project/gazebo-yarp-synchronizer/)
[](https://pypi.org/project/gazebo-yarp-synchronizer/)
[](https://pypi.org/project/gazebo-yarp-synchronizer/)
[](https://github.com/diegoferigo/gazebo-yarp-synchronizer/actions)
Synchronization with Gazebo Classic via YARP. With Python batteries.
This project is the client side of the [Clock Plugin](https://github.com/robotology/gazebo-yarp-plugins/tree/master/plugins/clock) included in [`robotology/gazebo-yarp-plugins`](https://github.com/robotology/gazebo-yarp-plugins), with some sugar on top.
It provides [`GazeboYarpSynchronizer`](src/gazebo/), a new class that extends the automatically generated resources from the [thrift service](thrift/) and provides initialization and termination helpers.
The main scope of this repository is providing a PyPI package for Python usage, but nothing prevents importing and using it from plain C++.
## Dependencies
`gazebo-yarp-synchronizer` expects to find installed and configured the following dependencies:
- [`robotology/yarp`](https://github.com/robotology/yarp)
- [`robotology/gazebo-yarp-plugins`](https://github.com/robotology/gazebo-yarp-plugins)
- [`osrf/gazebo`](https://github.com/osrf/gazebo)
## Installation
```bash
pip3 install gazebo-yarp-synchronizer
```
## Usage
In different terminals, execute:
```bash
# 1. Start the YARP server
yarpserver
# 2. Open Gazebo paused
gazebo -u -slibgazebo_yarp_clock.so
# 3. Make sure that YARP is running
yarp detect
# 4. Open the Python interpreter
ipython
```
Then, in the Python interpreter:
```python
# Import the module
>>> from gazebo_yarp_synchronizer import GazeboYarpSynchronizer
# Create the Gazebo synchronizer
>>> gys = GazeboYarpSynchronizer(gazebo_rpc_port_name="/clock/rpc")
# Initialize the Gazebo synchronizer
>>> gys.init()
# [INFO] |yarp.os.Port| Port /tmp/port/1 active at tcp://192.168.8.102:10056/
# [INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /tmp/port/1 to /clock/rpc using tcp
# Inspect simulation status
>>> gys.get_step_size(), gys.get_simulation_time()
# (0.001, 0.0)
# Advance the simulation synchronously
>>> gys.step_simulation_and_wait(number_of_steps=250)
# Print time
>>> gys.get_simulation_time()
# 0.25
# Advance the simulation synchronously
>>> gys.run_simulation_and_wait(duration=0.75)
# Print time
>>> gys.get_simulation_time()
# 1.0
# Terminate the synchronizer
>>> gys.fini()
# [INFO] |yarp.os.impl.PortCoreOutputUnit| Removing output from /tmp/port/1 to /clock/rpc
```
## Contributing
Pull requests are welcome.
For major changes, please open an issue first to discuss what you would like to change.
## License
[MIT](https://choosealicense.com/licenses/mit/)