Test Bench Parameters

Within a Test Bench canvas, specific Parameters may be used to configure the Test Bench workflow.

URDF File

Parameter	Value	Description
fixed_model	True	Method used to map parameter into ROS Node

ROS Launch File

Parameter	Value	Description
urdf_path	[path to .urdf file]	Path to URDF to load onto ROS parameter server - robot_description.

Gazebo Simulation

Parameter	Value	Description
world_path	[path to .world file]	Path to URDF to load into Gazebo
spawn_position	[(X, Y, Z)]
spawn_rotation	[(Roll, Pitch, Yaw)]
paused	True / False	Start simulation paused.
sim_start_delay	[float]	Duration (wall time) after start before automatically unpausing simulation.
sim_max_duration	[float]	Duration (sim time) after unpause before automatically shutting down simulation.
sim_max_pause_duration	[float]	Duration (wall time) after start before automatically shutting down simulation.