To load a Gazebo world based on the provided reference, you typically use the platform's graphical interface by navigating through specific menus to select a launch file.
Here is the step-by-step process:
- Navigate to the main menu of the simulation environment.
- Click on the Simulation option.
- From the submenu that appears, choose the Choose File option.
- Browse and select the desired launch file, often named something like
my_world.launch, which defines the Gazebo world and potentially other simulation parameters.
Automatic Gazebo Loading
Once you select the launch file using the steps above, the platform should automatically load the web version of Gazebo, known as gzweb. This allows you to visualize and interact with the simulated world directly within your browser.
Manual Gazebo Loading (Example: ROSDS)
In some specific environments, like ROSDS (ROS Development Studio), if you choose to run the simulation manually instead of relying on the automatic loading triggered by the launch file selection, you might need to open Gazebo Web separately. In such cases, the process is:
- Click on the Tools menu.
- Select the Gazebo option to manually open the gzweb interface.
This method provides flexibility if the automatic loading doesn't occur or if you need to access the Gazebo interface independently.
Loading a Gazebo world using a launch file is a common practice as it allows for defining the world file (.world), models, and other simulation settings in a single configuration file, simplifying the setup process.
