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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)
<launch>
<!-- 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/empty_sky_AR.world"/>
<arg name="gui" value="false"/>
</include>
<!-- 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"/>
</include>
</launch>
You may also want to look at that answer.