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This page details the topological map, what it is used for, and some relevant details of the map format and links to supporting info.
#overview
#properties
In ros2 to run the server which runs in the background.
ros2 launch gazebo_ros gzserver.launch.py verbose:=true world:=$GAZEBO_WORLD_FILE
To run the client to view and interact with the world.
ros2 launch gazebo_ros gzclient.launch.py verbose:=true