Procedural Generation for Gazebo

The Procedural Generation for Gazebo package is an Open Source Project extending the simulation capabilities of the robotics simulator Gazebo for automation and scripting of Gazebo simulations.

Visit the documentation page 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).

Requirements

Installation from source

Clone the repository into your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/boschresearch/pcg_gazebo_pkgs.git

then install the dependencies (replace kinetic for the ROS distribution you are using)

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y

and install an additional dependency from trimesh

sudo apt install libspatialindex-dev

and then run catkin build.

Installation of Python dependencies

The Python dependencies for the pcg_gazebo library can be found in pcg_libraries/requirements.txt. Since some of them cannot be resolved using rosdep, the missing dependencies are going to be installed in pip using the default python version in the target system in the user space.

License

Procedural Generation for Gazebo is open-sourced under the Apache-2.0 license. See the 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.txt.