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Hello, If you installed the tum_simulator, you should have launch files examples in "tum_simulator/cvg_sim_gazebo/launch". You can launch them with roslaunch :

roslaunch cvg_sim_gazebo ardrone_testworld.launch

In this version the gui client and server are both launch by default. If you only want the server then you neep to add the option <arg name="gui" value="false"/> in the launch file :

<?xml version="1.0"?>y_no_gui.launch  (press RETURN)
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="world_name" value="$(find cvg_sim_gazebo)/worlds/"/>
      <arg name="gui" value="false"/>

  <!-- Spawn simulated quadrotor uav -->
  <include file="$(find cvg_sim_gazebo)/launch/spawn_quadrotor.launch" >
    <arg name="model" value="$(find cvg_sim_gazebo)/urdf/quadrotor_sensors.urdf.xacro"/> 

You may also want to look at that answer.