Launching options

Environment variable	Default value	Range	Description
BACKTRACE	false	{true, false}	Enable gdb to backtrace errors in move_base planners.
DEBUG	false	{true, false}	Run gzserver with debug flags. More info here.
GLOBAL_PLANNER	navfn	{carrot, gbp, jps, navfn, sbpl}	Available global planners.
GUI	true	{true, false}	Disable Gazebo GUI (gzclient).
HIGH_BATTERY_CONSUMPTION	false	{true, false}	Start discharging the battery at 4 A
ID	1	[1 - Inf.)	ID of the robot. This will set the namespace: createID → create1. This value is taken from the NUM_ROBOTS variable in the simulation.
IMU	true	{true, false}	Use the real IMU (MPU9255)
LASER	rplidar	{astra, d435, kinect, r200, rplidar, xtion_pro}	Select laser type for navigation.
LOCAL_PLANNER	teb	{dwa, teb, trajectory_rollout}	Available local planners.
LOCALIZATION	none	{none, amcl, cartographer, octomap, pure_localization, rtab, slam, visual_odometry}	Select the algorithm to perform mapping, localization or SLAM.
NUM_ROBOTS	1	[0 - Inf.)	Spawn NUM_ROBOTS number of robots to the simulation.
PAUSED	false	{true, false}	Start the simulation paused. More info here.
RVIZ	true	{true, false}	Launch RViz.
STACK	turtlebot	{roomblock, turtlebot}	Select the stack that the robot will support and have the sensors with.
VERBOSE	false	{true, false}	Increase verbosity of Gazebo logs (show more data).
VISUALIZE	false	{true, false}	Visualize rays.