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Run gzserver and gzclient with -verbose, printing errors and warnings to the terminal (default false) Start gzserver (Gazebo Server) in debug mode using gdb (default false) Launch the user interface window of Gazebo (default true) Tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock (default true) Start Gazebo in a paused state (default false) You can append the following arguments to the launch files to change the behavior of Gazebo: To start an empty Gazebo world similar to the rosrun command in the previous tutorial, simply run The roslaunch tool is the standard method for starting ROS nodes and bringing up robots in ROS. This includes storing your URDF files in ROS packages and keeping your various resource paths relative to your ROS workspace. In this tutorial we cover the ROS-way of doing things: using rosrun and roslaunch. There are many ways to start Gazebo, open world models and spawn robot models into the simulated environment. Tutorial: Using roslaunch to start Gazebo, world files and URDF models