Update run_sim.py

run_sim.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import sys
 from pathlib import Path
-
+import time
 # Add sim module to path
 sys.path.insert(0, str(Path(__file__).parent))
 
@@ -41,19 +41,24 @@ def main(n_envs=1, use_async_envs: bool = False,
         camera_configs=camera_configs,
     )
     
-    # Start simulator (blocking)
+    # Start simulator
     print("\nSimulator running. Press Ctrl+C to exit.")
     if enable_offscreen and publish_images:
         print(f"Camera images publishing on tcp://localhost:{camera_port}")
     try:
-        SimulatorFactory.start_simulator(
-            sim,
-            as_thread=False,
-            enable_image_publish=publish_images,
-            camera_port=camera_port,
-        )
+        if publish_images:
+            sim.start_image_publish_subprocess(
+                start_method="spawn",
+                camera_port=camera_port,
+            )
+            time.sleep(1)
+        sim.start()
     except KeyboardInterrupt:
-        print("\nShutting down simulator...")
+        print("+++++Simulator interrupted by user.")
+    except Exception as e:
+        print(f"++++error in simulator: {e} ++++")
+    finally:
+        print("++++closing simulator ++++")
         sim.close()
 
 if __name__ == "__main__":