I have a 2d Vector from my simulation in Gazebo that I'd like to plot in realtime using Python. I'm trying to use Pygazebo to receive this vector. I have Gazebo v7.4 installed (no ROS) and I'm using Python 2.7.12. I've already looked at the Pygazebo documentation, numerous other questions/codes but I'm not able to achieve this. At this point, this is what I have at the pygazebo end:
import pygazebo
def callback(data):
message = pygazebo.msg.vector2d_pb2.Vector2d(data)
print('Received message:', message.x)
manager = pygazebo.Manager(('localhost', 11345))
manager.subscribe('~/vector2d','gazebo.msgs.Vector2d',callback)
manager.start()
On the gazebo end I have (just shown the relevant part of the code):
public: transport::PublisherPtr pub;
//Some code ...
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
transport::NodePtr node(new transport::Node());
node->Init();
pub = node->Advertise("~/vector2d");
pub->WaitForConnection();
}
public: void OnUpdate(const common::UpdateInfo &_info)
{
ignition::math::Vector2d vect(5,5);
msgs::Vector2d _msg;
msgs::Set(&_msg, vect);
pub->Publish(_msg);
}
Am I on the right track with this? The gazebo code doesn't throw any errors but I seem to be getting the following error when I run the Python code:
Traceback (most recent call last):
File "python_plot.py", line 8, in
manager.subscribe('~/vector2d','gazebo.msgs.Vector2d',callback)
File "/usr/local/lib/python2.7/dist-packages/pygazebo-3.0.0_2014.1-py2.7.egg/pygazebo/pygazebo.py", line 512, in subscribe
to_send.host = self._server.local_host
File "/usr/local/lib/python2.7/dist-packages/pygazebo-3.0.0_2014.1-py2.7.egg/pygazebo/pygazebo.py", line 425, in local_host
assert self._local_ready.is_set()
AssertionError
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