Command Line Arguments

The ambf simulator can be launched with the following optional command-line arguments.

#	Launch Argument (Cmd Line)	Description
1	-h [ --help ]	Show help
2	-n [ --ndevs ]	Number of Haptic Devices to Load. E.g. -n 2 will load the first two devices specified in the input_device.yaml file
3	-i [ --load_devices ]	Index number of devices to load which is specified in input_device.yaml. E.g. -i 2 will load the 3rd device specified in the input_device.yaml file
4	-e [ --enableforces ]	Enable Force Feedback on Haptic Devices. E.g. -e 0 will disable all forces on the input devices
5	-p [ --phx_frequency ]	Physics Update Frequency (default: 1000 Hz). E.g. -p 60 will runs the physics loop at 60 Hz
6	-d [ --htx_frequency ]	Haptics Update Frequency (default: 1000 Hz). E.g. -d 2000 will run the devices update loops at 2000 Hz
7	-t [ --fixed_phx_timestep ]	Use Fixed Time-Step for Physics (default: False). E.g. -t 1 will enable fixed stepping for the physics loop
8	-f [ --fixed_htx_timestep ]	Use Fixed Time-Step for Haptics (default: False). E.g. -f 1 will enable fixed stepping for the haptics loops
9	-a [ --load_multibody_files ]	Description Filenames of Multi-Body(ies) to launch. E.g. -a /test.yaml, <another_path>/test2.yaml will load multibodies test.yaml and test2.yaml if they are valid ADF files
10	-l [ --load_multibodies ]	Index of Multi-Body(ies) to launch. E.g. -l 1,2,3 will load multibodies at indexes 1,2,3. See launch.yaml file for the files included therein
11	-g [ --show_gui ]	Show GUI. E.g. -g 0 shall run the simulator headless
12	-s [ --sim_speed_factor ]	Override the speed of "NON REAL-TIME" simulation by a specified factor (Default 1.0). E.g. -s 2 shall run the physics simulation at twice the speed. Don't forget to enable fixed physics stepping (-t 1)
13	--launch_file	Launch file path to load (default: ../../ambf_models/descriptions/launch.yaml
14	--ns	Override the default (or specified in ADF) world namespace. E.g. --ns /my_workspace/ will forcefully preprent /my_workspace/ to all objects communication topics
15	--plugins	Simulator plugins to load, .e.g. "--plugins <plugin1_filepath>, <plugin2_filepath> loads plugin1 and plugin2 afSimulatorPlugins"
16	--override_max_comm_freq	Override the maximum publishing frequency for all afObjects (default: 1000 Hz)
17	--override_min_comm_freq	Override the minimum publishing frequency for all afObjects (default: 50 Hz)