## For instruction on writing tutorials
## http://www.ros.org/wiki/WritingTutorials
####################################
##FILL ME IN
####################################
## for a custom note with links:
## note =
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links
## note.0=
## descriptive title for the tutorial
## title = Bring-up a robot in the Gazebo simulation environment
## multi-line description to be displayed in search
## description = Robot bring-up in simulation
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link= [[robotican/Tutorials/Read and visualize your robot sensors|Read and visualize your robot sensors]]
## next.1.link= 
## what level user is this tutorial for
## level= BeginnerCategory
## keywords =
####################################
!<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>


Setting the '''''gazebo''''' will bring-up the robot in the Gazebo simulation environment. All other arguments will work exactly the same but now the sensors and the capabilities will work in simulation instead with the real robot. All the topics, services and actions will keep the same name and functionality.

For example, if you want the robot from the example in the previous tutorial but now in simulation, just add ''gazebo:=true'' to your arguments:
{{{
$ roslaunch robotican_armadillo armadillo.launch lidar:=true front_camera:=true gazebo:=true
}}}

'''''x,y,z,R,P,Y''''' - Initial position and orientation of the robot.

'''''world_name''''' - By default, the ''worlds/empty.world' will be loaded. You can specify a new world file name with respect to GAZEBO_RESOURCE_PATH environmental variable or a full path to any other world file.



## AUTOGENERATED DO NOT DELETE
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE