00119 #include <[gazebo_msgs/SetModelConfiguration.h](../../gazebo_msgs/html/SetModelConfiguration_8h.html)>
    00120 #include <boost/shared_ptr.hpp>
    00121 #include <boost/algorithm/string.hpp>
    00122 
    00123 #include <[tf/transform_broadcaster.h](../../../api/tf/html/transform__broadcaster_8h.html)>
    00124 
    00125 // Command line options
    [00126](gazeboros_8cpp.html#a0fe0d6cba0a8a75e68da5402cb7d928d) const char *[worldFileName](gazeboros_8cpp.html#a0fe0d6cba0a8a75e68da5402cb7d928d);
    [00127](gazeboros_8cpp.html#a49afbe9dab29f25cb7bbdcbc43e1cc05) const char *[optLogFileName](gazeboros_8cpp.html#a49afbe9dab29f25cb7bbdcbc43e1cc05) = NULL;
    [00128](gazeboros_8cpp.html#a22e4bc9ab344d8cb4155a232dbd1266f) unsigned int [optServerId](gazeboros_8cpp.html#a22e4bc9ab344d8cb4155a232dbd1266f) = 0;
    [00129](gazeboros_8cpp.html#adc9894c527a63384517475863c196995) bool [optServerForce](gazeboros_8cpp.html#adc9894c527a63384517475863c196995) = true;
    [00130](gazeboros_8cpp.html#ab8c4575115b7da32322fd180490d291d) bool [optGuiEnabled](gazeboros_8cpp.html#ab8c4575115b7da32322fd180490d291d) = true;
    [00131](gazeboros_8cpp.html#a71c88173f8bab8627a31df3b34499bb9) bool [optRenderEngineEnabled](gazeboros_8cpp.html#a71c88173f8bab8627a31df3b34499bb9) = true;
    [00132](gazeboros_8cpp.html#a3de449cbe56d0aacff20ccd18678cd9a) double [optTimeout](gazeboros_8cpp.html#a3de449cbe56d0aacff20ccd18678cd9a) = -1;
    [00133](gazeboros_8cpp.html#a0fb92fe3e724133ffc57d6d48aca3aa3) unsigned int [optMsgLevel](gazeboros_8cpp.html#a0fb92fe3e724133ffc57d6d48aca3aa3) = 1;
    [00134](gazeboros_8cpp.html#abfd3d09b83f2677012a352aa7f4bed7c) int [optTimeControl](gazeboros_8cpp.html#abfd3d09b83f2677012a352aa7f4bed7c) = 1;
    [00135](gazeboros_8cpp.html#a5dccf1f9607bd91523fab411715874b4) bool [optPhysicsEnabled](gazeboros_8cpp.html#a5dccf1f9607bd91523fab411715874b4)  = true;
    [00136](gazeboros_8cpp.html#a3697e95c8066e4952f3881c731f9e731) bool [optPaused](gazeboros_8cpp.html#a3697e95c8066e4952f3881c731f9e731) = false;
    [00137](gazeboros_8cpp.html#ab9308554571f349ac0b75eac34939dd2) bool [optWorldParam](gazeboros_8cpp.html#ab9308554571f349ac0b75eac34939dd2) = false;
    [00138](gazeboros_8cpp.html#ae990d80121edf87093d3df50d6e54ffc) const char *[worldParamName](gazeboros_8cpp.html#ae990d80121edf87093d3df50d6e54ffc) = NULL;
    [00139](gazeboros_8cpp.html#a332ee20fb7d46d2b771c88303d3c45aa) std::string [worldParamData](gazeboros_8cpp.html#a332ee20fb7d46d2b771c88303d3c45aa);
    [00140](gazeboros_8cpp.html#a511ffb65b36a4472dbfdbd6e3139f032) bool [optOgreLog](gazeboros_8cpp.html#a511ffb65b36a4472dbfdbd6e3139f032) = false;
    00141 
    00143 // TODO: Implement these options
    [00144](gazeboros_8cpp.html#a64d28f49232d9fada3edd46309ab6830) void [PrintUsage](gazeboros_8cpp.html#a64d28f49232d9fada3edd46309ab6830)()
    00145 {
    00146   fprintf(stderr, "Usage: gazeboros [-hv] <worldfile>\n");
    00147   fprintf(stderr, "  -h            : Print this message.\n");
    00148   fprintf(stderr, "  -s <id>       : Use server id <id> (an integer); default is 0. If <0, shared memory iface disabled\n");
    00149   fprintf(stderr, "  -f            : Force usage of the server id (use with caution)\n");
    00150   fprintf(stderr, "  -d <-1:9>      : Verbose mode: -1 = none, 0 = critical (default), 9 = all)\n");
    00151   fprintf(stderr, "  -t <sec>      : Timeout and quit after <sec> seconds\n");
    00152   fprintf(stderr, "  -g            : Run without a GUI\n");
    00153   fprintf(stderr, "  -r            : Run without a rendering engine\n");
    00154   fprintf(stderr, "  -l <logfile>  : Log to indicated file.\n");
    00155   fprintf(stderr, "  -n            : Do not do any time control\n");
    00156   fprintf(stderr, "  -p            : Run without physics engine\n");
    00157   fprintf(stderr, "  -u            : Start the simulation paused\n");
    00158   fprintf(stderr, "  -w <param>    : World file ROS parameter name\n");
    00159   fprintf(stderr, "  -o            : Create an Ogre.log file\n");