Changing a few default settings

Sometimes you want to change the simulation to be more appropriate with your ideal scenario, for example the world, or the sensor used.

Change the world

The default world in the simulation is the LASER laboratory.

But as long as you have the .world file in the “world” folder, you can use that file as the world. To do so use world:=(name of the world file) at the end of the roslaunch command. For example:

roslaunch robot_description spawn.launch world:=warehouse

Change the laser sensor

There are 2 options for a laser sensor in the simulation. The regular lidar sensor, and the rplidar, the last one being the default one. To change that, go to the spawn.launch file and change the values of the sensors arguments from true to false and vice versa.