## Starting the simulation system VEROSIM

The VEROSIM installation provides a startup script `runVEROSIM.sh` to start the simulation system. It initializes environment variables to load 3rd party dependencies, e.g. ROS, MATLAB/Simulink or OpenCV. To start VEROSIM just execute `runVEROSIM.sh`:

	user@host:~$ cd VEROSIM
	user@host:~/VEROSIM$ ./runVEROSIM.sh

### Verbose start

By default VEROSIM redirects status information and debug messages to a specialized window that is available inside the graphical user interface. In cases where additional information about the running process is needed, all these messages can also be printed to the terminal. The argument `-PrintDbgMsgs` is applicable to activate the debug output by setting it to the value `1`:

	user@host:~$ cd VEROSIM
	user@host:~/VEROSIM$ ./runVEROSIM.sh -PrintDbgMsgs 1

### Using environment variables
It might be necessary to set environment variables to initialize 3rd party libraries. For example, ROS requires the variable [`ROS_MASTER_URI`](http://wiki.ros.org/ROS/EnvironmentVariables#ROS_MASTER_URI) to be set if a [`roscore`](http://wiki.ros.org/roscore) is executed on a different system than the one you intend to use the simulation system on.
For this use case we will consider the following setup:
<table>
    <tr>
        <td><strong>Computer</strong></td>
        <td><strong>IPv4 address</strong></td>
        <td><strong>Hostname</strong></td>
        <td><strong>Description</strong></td>
    </tr>
    <tr>
        <td>Master</td>
        <td>192.168.0.1</td>
        <td>master.reconcell.eu</td>
        <td>Master computer running <code>roscore</code> that provides the interfaces to control actors</td>
    </tr>
    <tr>
        <td>Simulation</td>
        <td>192.168.0.2</td>
        <td>sim.reconcell.eu</td>
        <td>Simulation computer running VEROSIM</td>
    </tr>
</table>

The user `reconcell` intends to start VEROSIM on the Simulation Computer but requires ROS functionality that is provided by a `roscore` on the Master Computer. To accomplish this, the user needs to export the `ROS_MASTER_URI` before executing `runVEROSIM.sh`:

	reconcell@sim.reconcell.eu:~$ cd VEROSIM
	reconcell@sim.reconcell.eu:~/VEROSIM$ export ROS_MASTER_URI=http://192.168.0.1:11311/
	reconcell@sim.reconcell.eu:~/VEROSIM$ ./runVEROSIM.sh

Due to the use of hostnames, the following commands can be used to achieve the same. The advantage is better readability in larger network setups.

	reconcell@sim.reconcell.eu:~$ cd VEROSIM
	reconcell@sim.reconcell.eu:~/VEROSIM$ export ROS_MASTER_URI=http://master.reconcell.eu:11311/
	reconcell@sim.reconcell.eu:~/VEROSIM$ ./runVEROSIM.sh