Gazebo Common : AV, Graphics, Events, and much more.

Maintainer: nate AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Focal
Homebrew
Windows

Gazebo Common, a component of Gazebo, provides a set of libraries that cover many different use cases. An audio-visual library supports processing audio and video files, a graphics library can load a variety 3D mesh file formats into a generic in-memory representation, and the core library of Gazebo Common contains functionality that spans Base64 encoding/decoding to thread pools.

Features

Some of the many capabilities contained in Gazebo Common are:

AV: FFMpeg based audio decoder, and video encoder and decoder.
Core: Base64 encoding and decoding, battery model, console logging, cross-platform filesystem interface, URI processing, and a thread pool.
Events: Mouse and keyboard events, and a high-performance signal and callback system.
Graphics: Collada, SVG, STL, OBJ, and DEM loaders. In-memory mesh, image, and material representations. Animation processing and BVH loader.
Profiler: A common profiler abstraction that can be used to measure and visualize run time of various pieces of Gazebo software.

Install

See the installation tutorial.

Usage

Please refer to the examples directory.

Folder Structure

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

+-- av                       Header and source files for the AV component.
+-- events                   Header and source files for the Event component.
+-- examples                 Example programs.
+-- graphics                 Header and source files for the Graphics component.
+-- include/gz/common  Header files for the core component.
+-- profiler                 Header and source files for the Profiler component.
+-- src                      Core source files and unit tests.
+-- test
|    +-- integration         Integration tests.
|    +-- performance         Performance tests.
|    +-- plugins             Plugin tests.
|    +-- static_assertions   Plugin static assertion tests.
|    +-- regression          Regression tests.
+-- tutorials                Tutorials, written in markdown.
+-- Changelog.md             Changelog.
+-- CMakeLists.txt           CMake build script.
+-- Migration.md             Migration guide.

Contributing

Please see the contributing guide.

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.