hbp_nrp_cleserver.server.GazeboInterface module

Interface for gzserver and gzbridge spawning classes.

class IGazeboBridgeInstance

Bases: object

Takes care of starting a gzserver instance somewhere.

restart()

Restarts the gzbridge instance represented by the object.

start()

Starts the gzbridge instance represented by the object.

stop()

Stops the gzbridge instance represented by the object.

class IGazeboServerInstance

Bases: object

Takes care of starting a gzserver process somewhere, connect it to the given roscore. Each implementation has to take care of providing the methods start, stop and restart as well as a property containing the gzserver master URI.

property gazebo_died_callback

Gets the callback when gazebo dies

property gazebo_master_uri

Returns a string containing the gazebo master URI (like:’http://bbpviz001.cscs.ch:11345’)

restart(ros_master_uri)

Restarts the gzserver instance.

Parameters

ros_master_uri – The ros master uri where to connect gzserver.

start(ros_master_uri, models_path=None, gzserver_args=None)

Starts a gzserver instance connected to the local roscore (provided by ros_master_uri)

Parameters

• ros_master_uri – The ros master uri where to connect gzserver.

• models_path – An additional path where Gazebo may find models

• gzserver_args – Additional formatted string of command line arguments to pass to gzserver (e.g. –seed 123456 -e simbody)

stop()

Stops the gzserver instance.

try_extend(new_timeout)

” Verifies that the gazebo can accept the new simulation timeout