Gazebo Utils : Classes and functions for robot applications

Maintainer: addisu AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Noble
Homebrew
Windows

Gazebo Utils, a component of Gazebo, provides general purpose classes and functions designed for robotic applications.

Table of Contents

Features

Install

Usage

Documentation

Testing

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

Gazebo Utils provides a wide range of functionality, including:

• A helper class to implement the PIMPL pattern
• A command line parsing utility (vendored CLI11)
• Macros to suppress warnings

Install

See the installation tutorial.

Usage

Please refer to the examples directory.

Documentation

API and tutorials can be found at https://gazebosim.org/libs/utils.

You can also generate the documentation from a clone of this repository by following these steps.

1. You will need Doxygen. On Ubuntu Doxygen can be installed using

   sudo apt-get install doxygen

2. Clone the repository

   git clone https://github.com/gazebosim/gz-utils

3. Configure and build the documentation.

   cd gz-utils; mkdir build; cd build; cmake ../; make doc

4. View the documentation by running the following command from the build directory.

   firefox doxygen/html/index.html

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

1. Follow the source install instruction.

2. Run tests.

   make test

3. Static code checker.

   make codecheck

Folder Structure

Refer to the following table for information about important directories and files in this repository.

gz-utils
├── cli                      Gazebo CLI component. Vendored from https://github.com/CLIUtils/CLI11/
├── examples                 Example programs.
├── include/gz/utils         Header files.
├── src                      Source files and unit tests.
├── test
│    ├── integration         Integration tests.
│    ├── performance         Performance tests.
│    └── regression          Regression tests.
├── tutorials                Tutorials, written in markdown.
├── Changelog.md             Changelog.
└── CMakeLists.txt           CMake build script.

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.