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Launching the Simulator
Having successfully completed the steps above running is Simulator is easy. Depending on what OS you're using, follow the steps below, we can look at the application flags using the -h command-line option:
Let's run
cd ~/ambf/bin/<os>
./ambf_simulator -h
This should show you the available command line options. Some of the command line options are for testing purposes and might be deprecated in future versions.
For our usage, one of the most important flags is the -l flag. The AMBF Simulator uses the yaml file located in ambf/ambf_models/descriptions/launch.yaml
to
load robot/multi-body models, haptic devices, simulated end-effectors, and the world. You can see the contents
of this file by launching it in your favorite text editor. For launching specific robots we can use the corresponding index of the multi-body in multibody configs:
data-block. To launch a multi-body and index 3, we can simply run:
cd ~/ambf/bin/<os>
./ambf_simulator -l 3
If we want to run multiple robots, we can simply use a comma-separated list as follows:
cd ~/ambf/bin/<os>
./ambf_simulator -l 1,6,10
If we don't specify the -l
flag, the first multi-body defined in the multibody configs
data block is launched
The AMBF Simulator
Introduction
- Installing AMBF
- Launching the Simulator
- Selecting Robot(s) to Launch
- The Python Client
- Understanding the Input Device Specification
- Understanding Command Line Arguments
- Keyboard and Mouse Shortcuts
- Mouse Control Multipliers
Useful Tools
Concepts:
- Collision Filtering
- Preprocessing Shaders
- Publishing Camera Feed and Depth Point Cloud
- Setting Per Object or Per Model Level Gravity:
Examples