additional_scenarios.md

Additional simulation scenarios

There are several simulation scenarios, described in launch files. They are a combination of all 4 boat models (differential, rudder, airboat, sailboat) with the scenarios 1 to 4. The easiest way to check the available models is to type roslauch usv_sim and then press Tab. It will show a list with all available launch files.

To run a lauch file for the first time, it's necessary to run roslaunch usv_sim <scenario_name>.launch parse:=true, with the parse:=true argument. This command will generate other launch files used by the actual command, which uses parse:=false.

roslaunch usv_sim sailboat_scenario1.launch parse:=true
roslaunch usv_sim sailboat_scenario1.launch parse:=false

It will launch this simulation scenario.