3 <!-- these are the arguments you can pass this launch file, for example paused:=true -->
4 <arg name="paused" default="false"/>
5 <arg name="use_sim_time" default="true"/>
6 <arg name="extra_gazebo_args" default=""/>
7 <arg name="gui" default="true"/>
8 <arg name="recording" default="false"/>
9 <!-- Note that 'headless' is currently non-functional. See gazebo_ros_pkgs issue #491 (-r arg does not disable
10 rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
11 launch files, but it does nothing. -->
12 <arg name="headless" default="false"/>
13 <arg name="debug" default="false"/>
14 <arg name="physics" default="ode"/>
15 <arg name="verbose" default="false"/>
16 <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
17 <arg name="respawn_gazebo" default="false"/>
18 <arg name="use_clock_frequency" default="false"/>
19 <arg name="pub_clock_frequency" default="100"/>
21 <!-- set use_sim_time flag -->
22 <group if="$(arg use_sim_time)">
23 <param name="/use_sim_time" value="true" />
26 <!-- set command arguments -->
27 <arg unless="$(arg paused)" name="command_arg1" value=""/>
28 <arg if="$(arg paused)" name="command_arg1" value="-u"/>
29 <arg unless="$(arg recording)" name="command_arg2" value=""/>
30 <arg if="$(arg recording)" name="command_arg2" value="-r"/>
31 <arg unless="$(arg verbose)" name="command_arg3" value=""/>
32 <arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
33 <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
34 <arg if="$(arg debug)" name="script_type" value="debug"/>
36 <!-- start gazebo server-->
37 <group if="$(arg use_clock_frequency)">
38 <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
40 <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="screen"
41 args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />