> For the complete documentation index, see [llms.txt](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/usability/python-api/starting-modes.md).

# Starting modes

<table><thead><tr><th width="150" align="center">Function</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center"><a href="#swarm.startplanning">startPlanning</a></td><td align="center">Starts the Planning Mode</td></tr><tr><td align="center"><a href="#swarm.startsimulation-launch-false">startSimulation</a></td><td align="center">Starts the Simulation Mode</td></tr><tr><td align="center"><a href="#swarm.startnavigation">startNavigation</a></td><td align="center">Starts the Navigation Mode</td></tr></tbody></table>

#### `Swarm.startPlanning()`

* <mark style="color:green;">Parameters:</mark>
  * None
* <mark style="color:red;">Result:</mark>\
  Sets the operation mode as Planning and opens the [Swarm Preview](/swarm-in-blocks/background-theory/systems/swarm-preview.md) initial window.

#### `Swarm.startSimulation(`*`launch=False`*`)`

* <mark style="color:green;">Parameters:</mark>
  * `launch: bool, optional`

    Set launch boolean to *'True'* in order to allow running the simulation with the standard initial formation

{% hint style="info" %}
The standard initial formations are:

* **Line** for up to three drones;

* **Full square** for four and more drones.
  {% endhint %}

* <mark style="color:red;">Result:</mark>\
  Starts all the ROS necessary nodes, the Gazebo, Swarm Checker, and launches the simulation with the already defined params.

#### `Swarm.startNavigation()`

* <mark style="color:green;">Parameters:</mark>
  * None
* <mark style="color:red;">Result:</mark>\
  Sets the operation mode as Navigation.

{% hint style="info" %}
The modes are detailed in the [Launch modes](/swarm-in-blocks/usability/launch-modes.md) section
{% endhint %}


---

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