empty_world.launch

最新推荐文章于 2022-05-08 20:24:00 发布

N1CROWN

最新推荐文章于 2022-05-08 20:24:00 发布

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分类专栏： ros C++ ubuntu

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这是一个关于Gazebo模拟器的启动配置文件，详细列出了如暂停、使用模拟时间、渲染设置、世界名称、ROS网络启用等参数。通过这些参数，用户可以自定义Gazebo的运行行为，包括是否开启记录、调试模式、物理学引擎选择以及是否使用系统时钟频率等。此文件还包含了如何根据不同的条件设置命令参数和启动Gazebo服务器及客户端。

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<?xml version="1.0"?>
<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="extra_gazebo_args" default=""/>
  <arg name="gui" default="true"/>
  <arg name="recording" default="false"/>
  <!-- Note that 'headless' is currently non-functional.  See gazebo_ros_pkgs issue #491 (-r arg does not disable
       rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
       launch files, but it does nothing. -->
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="physics" default="ode"/>
  <arg name="verbose" default="false"/>
  <arg name="output" default="screen"/>
  <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
  <arg name="respawn_gazebo" default="false"/>
  <arg name="use_clock_frequency" default="false"/>
  <arg name="pub_clock_frequency" default="100"/>
  <arg name="enable_ros_network" default="true" />
  <arg name="server_required" default="false"/>
  <arg name="gui_required" default="false"/>

  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="$(arg use_sim_time)"/>

  <!-- set command arguments -->
  <arg unless="$(arg paused)" name="command_arg1" value=""/>
  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
  <arg unless="$(arg recording)" name="command_arg2" value=""/>
  <arg     if="$(arg recording)" name="command_arg2" value="-r"/>
  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
  <arg     if="$(arg debug)" name="script_type" value="debug"/>

  <!-- start gazebo server-->
  <group if="$(arg use_clock_frequency)">
    <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
  </group>
  <group>
    <param name="gazebo/enable_ros_network" value="$(arg enable_ros_network)" />
  </group>
  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="$(arg output)"
	args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)"
  required="$(arg server_required)" />

  <!-- start gazebo client -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="$(arg output)" args="$(arg command_arg3)"
    required="$(arg gui_required)"/>
  </group>

</launch>