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