42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gazebo/gazebo.hh>
|
|
#include <gazebo/common/common.hh>
|
|
#include <gazebo/physics/physics.hh>
|
|
|
|
/////////////////////////////////////////////////
|
|
int main(int _argc, char **_argv)
|
|
{
|
|
// Initialize gazebo.
|
|
gazebo::setupServer(_argc, _argv);
|
|
|
|
// Load a world
|
|
gazebo::physics::WorldPtr world = gazebo::loadWorld("worlds/empty.world");
|
|
|
|
// This is your custom main loop. In this example the main loop is just a
|
|
// for loop with 2 iterations.
|
|
for (unsigned int i = 0; i < 2; ++i)
|
|
{
|
|
// Run simulation for 100 steps.
|
|
gazebo::runWorld(world, 100);
|
|
}
|
|
|
|
// Close everything.
|
|
gazebo::shutdown();
|
|
}
|