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Command line options The Player server is run as follows: $ player [options] <configfile> where [options] is one or more of the following: -h : Print usage message. -u <rate>: set server update rate, in Hz. -d <level> : debug message level (0 = none, 1 = default, 9 = all). -t {tcp | udp} : transport protocol to use. Default: tcp. -p <port> : port where Player will listen. Default: 6665. -s <path> : use memory-mapped IO with Stage through the devices in this directory. -g <id> : connect to Gazebo server with id <id> (an integer). -r <logfile> : read data from <logfile> (readlog driver). -f <speed> : readlog speed factor (e.g., 1 for normal speed, 2 for twice normal speed). -k <key> : require client authentication with the given key. Note that only one of -s, -g and -r can be specified at any given time.