*******************
Simulators
*******************

Rviz
======
To run rviz ::

  rosrun rviz rviz

Gazebo
========

Gazebo_ is a Robot simulator with physics engine. Fro more information about it check the website.

Gazebo_ can be interfaced with ROS. The follwing package should be installed: ::

  sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros-control

To run Gazebo: ::

  roscore
  rosrun gazebo_ros gazebo

Gazebo launch
------------------

Try ``gazebo_ros`` package: ::

  roslaunch gazebo_ros empty_world.launch
  roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false recording:=false debug:=true verbose:=true
  roslaunch gazebo_ros willowgarage_world.launch
  roslaunch gazebo_ros mud_world.launch
  roslaunch gazebo_ros shapes_world.launch
  roslaunch gazebo_ros rubble_world.launch



.. _rviz:
.. _Gazebo: http://gazebosim.org/tutorials