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## title = Running STDR Simulator
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## description = How to start the STDR Simulator, using launchers.
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=== Using provided launchers ===
The `stdr_simulator` provides a number of launchers (included in `stdr_launchers` package) to cover basic usage scenarios.

==== Simple use case, server, gui and a robot ====
You will need one terminal to run the following command:
{{{
$ roslaunch stdr_launchers server_with_map_and_gui_plus_robot.launch
}}}

A new window running the `STDR GUI` will come up and you should see something like this:

{{attachment:gui.png|gui|width=760}} 

==== Using Rviz to visualize robot, sensor measurements ====
You can run `rviz` and subscribe to necessary topics or use the provided launcher:
{{{
$ roslaunch stdr_launchers rviz.launch
}}}

This is a very good example to understand what topics are published and which tf transforms are available: 

{{attachment:rviz.png|rviz|width=760}}
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