gazebo node arguments list

edit

Hi,

I'm currently trying to launch simulations headless according to this tutorial, but there is only empty_world_no_x.launch as example showing -r option use.

In my case, I want to simulate Willow Garage world and others with walls to allow a pr2 doing SLAM. I successfully launch empty_world headless and manually spawned the wg walls located in gazebo_world/objects but I would use a launch file. I tried adding -r in the wg_world_paused.launch loaded from pr2_wg_world.launch, but gazebo is quitting, so I guess that other '-s -1 -u' args are conflicting with '-r'. Is there somewhere gazebo node arguments are described, that would allow me to understand what is exactly doing the pr2_wg_wolrd.launch file ?

========================================================================

Edit : Thanks for answering. I try only with -r but still the same error :

gazebo: /tmp/buildd/ros-electric-visualization-common-1.6.2/debian/ros-electric-visualization-common/opt/ros
/electric/stacks/visualization_common/ogre/build/ogre_src_v1-7-3/OgreMain/src/OgreResourceGroupManager.cpp:47:
static Ogre::ResourceGroupManager& Ogre::ResourceGroupManager::getSingleton(): Assertion 'ms_Singleton' failed.
[gazebo-1] process has died [pid 26497, exit code -6].
log files: /home/renaudo/.ros/log/043d1f9c-9819-11e1-9e9a-002219119be4/gazebo-1*.log

The world I try to load is wg_collada.world. Maybe it is not launchable in headless ?