GUI and visualization options
Available parameters under the global <gui> ... </gui>
tag (all are optional).
<win_w>800</win_w>
and<win_h>600</win_h>
. Size of the main GUI window, in pixels.<start_maximized>true</start_maximized>
. Whether to start maximized.<refresh_fps>20</refresh_fps>
. GUI refresh rate (in FPS or Hz). Faster will lead to smoother graphics and animations of the vehicle motion, at a higher CPU/GPU cost. Publication of sensor readings, odometry, etc. is not affected at all by this parameter.<show_sensor_points>true</show_sensor_points>
. If enabled (default), obstacle readings (RGBD cameras, 2D or 3D Lidars, etc.) will be visible as point clouds. This option can be also dynamically switched from the UI:
<headless>false</headless>
. If enabled, MVSim will run without any interactive GUI. Useful to save some CPU/GPU usage or to run MVSim inside docker containers.<cam_point_to>0 0 0</cam_point_to>
. Defines the (x,y,z) coordinates of the point the camera should look at upon start.<show_forces>false</show_forces>
and<force_scale>0.01</force_scale>
. Ifshow_forces
is set totrue
, reaction forces will be visible as thin lines, using the given scale in meters/Newton. This option can be also dynamically switched from the UI:
<ortho>false</ortho>
. If set totrue
, the GUI will show an orthographic view of the world. Otherwise, it will use a standard perspective camera.<fov_deg>60.0</fov_deg>
. Ifortho
isfalse
, this defines the GUI camera vertical field of view, in degrees.<cam_distance>80.0</cam_distance>
. The initial distance from the camera point-to location and the camera focal point.<cam_point_to>0 0 0</cam_point_to>
: The initial camera will be pointing to this XYZ location.<cam_azimuth>45.0</cam_azimuth>
and<cam_elevation>40.0</cam_elevation>
. The initial elevation and azimuth of the orbit model to define the camera placement and pose.<follow_vehicle>r1</follow_vehicle>
. If not empty, the GUI camera will accept rotations made by the user, but it will always exactly follow the robot given by itsname
.<clip_plane_min>0.05</clip_plane_min>
and<clip_plane_max>10e3</clip_plane_max>
. The shortest and farthest distances that are visible in the GUI camera view frustrum.
<mvsim_world version="1.0">
...
<!-- GUI options -->
<gui>
<!-- Is camera orthographic or projective? -->
<ortho>false</ortho>
<!-- Show reaction forces on wheels with lines -->
<show_forces>false</show_forces>
<!-- default camera distance in world units -->
<cam_distance>35</cam_distance>
<!-- camera vertical field of view in degrees -->
<fov_deg>60</fov_deg>
<!-- <follow_vehicle>r1</follow_vehicle> -->
</gui>
...
</mvsim_world>