From e450a4d964eed1348ca6bde7daef409df97fcea1 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Wed, 29 Nov 2023 10:18:02 +0100 Subject: [PATCH] Update mvsim-cli.rst --- docs/mvsim-cli.rst | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/docs/mvsim-cli.rst b/docs/mvsim-cli.rst index dd72e44a..12e52a2b 100644 --- a/docs/mvsim-cli.rst +++ b/docs/mvsim-cli.rst @@ -55,7 +55,9 @@ Command ``mvsim launch`` -v, --verbosity Set verbosity level: DEBUG, INFO (default), WARN, ERROR -Write me! +This can be used to launch the simulation of a world given the path to its XML definition file. Then you can interact with the robot(s) via keyboard, mouse, or joystick, or via the Python API. + +If you want the simulator to communicate via ROS, you must launch the `ROS node `_ instead. Command ``mvsim server`` @@ -71,7 +73,8 @@ Command ``mvsim server`` -v, --verbosity Set verbosity level: DEBUG, INFO (default), WARN, ERROR -Write me! +MVSim uses a communication server, and then the simulation of the world happens in a client called "World". This command can be used to launch an independent, new server. +Normally you will not need to use this command unless you are developing a custom C++-based simulation based on the MVSim libraries. Command ``mvsim node`` @@ -85,7 +88,7 @@ Command ``mvsim node`` mvsim node --help Show this help mvsim node list List all nodes connected to the server. -Write me! +Request what MVSim network nodes are active and connected to the running server. Command ``mvsim topic`` @@ -101,6 +104,5 @@ Command ``mvsim topic`` mvsim topic echo Subscribe and print a topic mvsim topic hz Estimate topic publication rate (in Hz) -Write me! - - +Can be used to list or inspect the publication of MVSim (not ROS!) topics with sensor and pose data. +These topics are accessible via the provided Python API, refer to examples: https://github.com/MRPT/mvsim/tree/develop/mvsim_tutorial/python