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ROS 2 Migration: Launch Scripts
The functionalities of gazebo_ros scripts in ROS1 (gazebo, gzclient, gzserver, debug, gdbrun, perf, libcommon.sh) are being offered by launch scripts gazebo.launch.py, gzserver.launch.py and gzclient.launch.py in ROS2.
rosrun gazebo_ros gazebo
ros2 launch gazebo_ros gazebo.launch.py
rosrun gazebo_ros gzserver
ros2 launch gazebo_ros gzserver.launch.py
rosrun gazebo_ros gzclient
ros2 launch gazebo_ros gzclient.launch.py
rosrun gazebo_ros debug
ros2 launch gazebo_ros gzserver.launch.py gdb:=true
In ROS2, gzclient script also supports gdb
ros2 launch gazebo_ros gzclient.launch.py gdb:=true
or
ros2 launch gazebo_ros gazebo.launch.py gdb:=true
rosrun gazebo_ros perf
ros2 launch gazebo_ros gzserver.launch.py valgrind:=true
Similar to gdb, valgrind can also be run with gazebo and gzserver
For all other arguments to be passed to gazebo, gzclient or gzserver command, launch_arguments are available in the respective scripts.
ros2 launch gazebo_ros gazebo.launch.py world:=actor.world verbose:=true
By default, the system plugins are loaded in gzserver. To load without them
ros2 launch gazebo_ros gazebo.launch.py init:=false factory:=false
By default, both gzserver and gzclient have to be terminated for the launch script to exit. server_required and gui_required tell the launch script to shut down automatically if either one of gzserver or gzclient has terminated, respectively:
ros2 launch gazebo_ros gazebo.launch.py gui_required:=true server_required:=true
extra_gazebo_args is a special argument which allows any gazebo argument to be passed as it is passed to the usual gazebo command
ros2 launch gazebo_ros gazebo.launch.py extra_gazebo_args:="--verbose --pause"