Launch Files

These are .launch files that can be run using roslaunch:

roslaunch rktl_sim <launch file>

simulator.launch 

This launch file launches a simulator node and sets the appropriate parameters. Parameters are set in rktl_sim/config/simulator.yaml and in the launch file itself. For more information, please refer to the documentation for the simulator node.

Launch Arguments 

pybullet_render (default: false): Whether or not to render the pybullet simulator.
sim_mode (default: 'realistic'): Either set to 'realistic' or 'ideal'. See simulator for more details.

Nodes 

simulator: simulator node from the rktl_sim package.

visualizer.launch 

This launch file launches a visualizer node and sets the appropriate parameters. Parameters are set in rktl_sim/config/visualizer.yaml and in the launch file itself. For more information, please refer to the documentation for the visualizer node.

Nodes 

visualizer: visualizer node from the rktl_sim package.