pcg-gazebo 0.7.12
A Python package for rapid-prototyping and scripting of simulations for Gazebo
License: Apache-2.0
Keywords: gazebo ros simulation robotics sdf urdf robot

``pcg_gazebo``: A Python package for rapid-prototyping and scripting of simulations for Gazebo
==============================================================================================

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The ``pcg_gazebo`` Python package is an Open Source Project extending
the simulation capabilities of the robotics simulator
`Gazebo <http://gazebosim.org/>`__ for automation and scripting of
Gazebo simulations.

Visit the `documentation
page <https://boschresearch.github.io/pcg_gazebo/>`__ for more
information.

Purpose of the project
----------------------

This software is a research prototype.

The software is not ready for production use. It has neither been
developed nor tested for a specific use case. However, the license
conditions of the applicable Open Source licenses allow you to adapt the
software to your needs. Before using it in a safety relevant setting,
make sure that the software fulfills your requirements and adjust it
according to any applicable safety standards (e.g. ISO 26262).

Installation
------------

Using ``pip``
~~~~~~~~~~~~~

You can install the ``pcg-gazebo`` package using ``pip`` as follows

.. code:: bash

   pip install pcg-gazebo

you still might need to install some extra dependencies that cannot be
handled by ``pip`` as

::

   sudo apt install libspatialindex-dev pybind11-dev libgeos-dev

Give some issues with the package ``rtree`` on ``pip``, it would also be
recommended to install it from ``apt``. Please install ``python-rtree``
if you are using Python 2.x or ``python3-rtree`` for Python 3.x.

   The default installation does not include ``rospy`` dependencies that
   are not available as a ``pip`` package. They have to be installed
   separately for certain submodules to work, such as
   ``pcg_gazebo.task_manager``.

From source
~~~~~~~~~~~

First install some non-Python dependencies

::

   sudo apt install libspatialindex-dev pybind11-dev libgeos-dev libfcl-dev liboctomap-dev

Then clone the repository and install it using ``pip``

::

   git clone https://github.com/boschresearch/pcg_gazebo.git
   cd pcg_gazebo
   pip install .

Using the package with ROS and Gazebo
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Certain functionalities as the Gazebo proxy, task manager and model
spawning are only available if ``rospy`` is installed. The lack of
Gazebo and ``rospy`` only restricts functionalities related to
interaction with the simulation in runtime and the creation of
ROS-related tasks.

At the moment, ROS 2 is **not** supported for this purpose. To install
ROS ``melodic``, follow these `installation
instructions <https://wiki.ros.org/melodic/Installation/Ubuntu>`__ and
install ``ros-melodic-desktop-full`` or separately install Gazebo and
its ROS bindings as

::

   sudo apt install gazebo9 libgazebo9-dev ros-melodic-gazebo-*

License
-------

Procedural Generation for Gazebo is open-sourced under the Apache-2.0
license. See the
`LICENSE <https://github.com/boschresearch/pcg_gazebo/blob/master/LICENSE>`__
file for details.

For a list of other open source components included in Procedural
Generation for Gazebo package, see the file
`3rd-party-licenses <https://github.com/boschresearch/pcg_gazebo/blob/master/3rd-party-licenses.md>`__.

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