../_images/flatland_logo2.png

Launching Flatland Server NodeΒΆ

Flatland Server provides a launch file to start the 2D simulator. The parameters for the launch file is specified below.

Run this following command to launch the simulator using default parameters

$ roslaunch flatland_server server.launch world_path:=/path/to/world.yaml

Here are the full list of parameters with the default values

$ roslaunch flatland_server server.launch world_path:=/path/to/world.yaml \
                                          update_rate:=200.0 \
                                          step_size:=0.005 \
                                          show_viz:=true \
                                          viz_pub_rate:=30.0 \
                                          use_rviz:=false
  • world_path: path to world.yaml
  • update_rate: the real time rate to run the simulation loop in Hz
  • step_size: amount of time to step each loop in seconds
  • show_viz: show visualization, pops the flatland_viz window and publishes visualization messages, either true or false
  • viz_pub_rate: rate to publish visualization in Hz, works only when show_viz=true
  • use_rviz: works only when show_viz=true, set this to disable flatland_viz popup