tuxliri / gz-transport

Transport library for component communication based on publication/subscription and service calls.

Gazebo Transport

Maintainer: caguero AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Jammy
Homebrew
Windows

Gazebo Transport, a component of Gazebo, provides fast and efficient asynchronous message passing, services, and data logging.

Table of Contents

Features

Install

Usage

Documentation

Testing

Folder Structure

Contributing

Code of Conduct

Versioning

License

Features

Gazebo Transport is an open source communication library that allows exchanging data between clients. In our context, a client is called a node. Nodes might be running within the same process in the same machine or in machines located in different continents. Gazebo Transport is multi-platform (Linux, Mac OS X, and Windows), so all the low level details, such as data alignment or endianness are hidden for you.

Gazebo Transport uses Google Protocol buffers as the data serialization format for communicating between nodes. Users can define their own messages using the Protobuf utils, and then, exchange them between the nodes. Gazebo Transport discovers, serializes and delivers messages to the destinations using a combination of custom code and ZeroMQ.

Install

See the installation tutorial.

Usage

See tutorials and the example directory in the source code.

Known issue of command line tools

In the event that the installation is a mix of Debian and from source, command line tools from gz-tools may not work correctly.

A workaround is to define the environment variable GZ_CONFIG_PATH to point to the location of the Gazebo library installation, where the YAML file for the package is found, such as

export GZ_CONFIG_PATH=/usr/local/share/gz

This issue is tracked here.

Documentation

Visit the documentation page.

Folder Structure

gz-transport
├── conf        Configuration file for the integration with the `gz` CLI tool.
├── docker      Dockerfile with gz-transport installed and scripts to build and run the code.
├── example     Example programs that use most of the Gazebo Transport API.
├── include     Header files that get installed.
├── log         All the code related with Gazebo Transport logging.
├── src         Source code of the core library.
├── test        A directory of integration, performance and regression tests.
└── tutorials   A set of tutorials about Gazebo Transport features.

Contributing

Please see CONTRIBUTING.md.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.