---
# System prepended metadata

title: Gazebo roslaunch
tags: [畢專]

---

# Gazebo roslaunch arguments
## 1.world_name

Specifies the world file to load in Gazebo
```
<arg name="world_name" default="$(find gazebo_ros)/worlds/empty.world" />
```

## 2.paused

Indicates whether the simulation should start in a paused state (default false)
```
<arg name="paused" value="false" />
```
## 3.use_sim_time

Tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock (default true)
To put it simply,it determines if ROS should use simulated time from Gazebo
```
<arg name="use_sim_time" value="true" />
```
## 4.gui

Specifies whether to launch Gazebo with the graphical interface (GUI) (default true)
```
<arg name="gui" value="true" />
```

## 5.headless (deprecated) recording (previously called headless)

Enable gazebo state log recording
```
<arg name="headless" value="false"/>
```

## 6.debug

Start gzserver (Gazebo Server) in debug mode using gdb (default false)
```
 <arg name="debug" value="false"/>
```

## 7.verbose

Run gzserver and gzclient with verbose, printing errors and warnings to the terminal (default false)
Helpful for debugging; if true, Gazebo logs detailed information

```
<arg name="verbose" value="false" />
```

## 8.server_required

Terminate launch script when gzserver (Gazebo Server) exits (default false)

## 9.gui_required

Terminate launch script when gzclient (user interface window) exits (default false)