master.launch

The most important launch within kitcar-gazebo-simulation is the master.launch file located at simulation/src/gazebo_simulation/launch/master.launch. It includes all parts necessary to start the simulation, but also allows to individually modify which parts of the simulation are started.

Example: Start RVIZ with Road’s Groundtruth

One of the simulation’s great strengths is that detailed information of the simulated world is available. The following example shows how to visualize the groundtruth information to get a better understanding of where the car perceives lanes and other information of the road.

Launch

Passing rviz:=true and groundtruth:=true along to the master.launch starts the simulation with an instance of the groundtruth_node and RVIZ.

roslaunch gazebo_simulation master.launch groundtruth:=true rviz:=true

This will open up RVIZ and after starting kitcar-ros detected lines and other objects seen by the car are displayed:

Configurations

There are several other parameters available when launching master.launch. Take a look at the actual launch file for more details: