hbp_nrp_cleserver.server.LocalGazebo module

This module contains the classes needed to have all gazebo services running locally.

class LocalGazeboBridgeInstance

Bases: hbp_nrp_cleserver.server.GazeboInterface.IGazeboBridgeInstance

Represents a local instance of gzbridge.

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 LocalGazeboServerInstance

Bases: hbp_nrp_cleserver.server.GazeboInterface.IGazeboServerInstance

Represents a local instance of gzserver.

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.

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

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

Param

ros_master_uri The ros master uri where to connect gzserver.

Parameters

• 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)

Always accept new simulation timeout