CSharpSlam.RobotControl.StartSimulation C# (CSharp) Метод

        private void StartSimulation()
        {
            VREPWrapper.simxGetObjectHandle(_clientId, R.WheelLeft0, out _handleLeftMotor, simx_opmode.oneshot_wait);
            VREPWrapper.simxGetObjectHandle(_clientId, R.WheelRight0, out _handleRightMotor, simx_opmode.oneshot_wait);
            VREPWrapper.simxGetObjectHandle(_clientId, R.SICKS300, out _handleSick, simx_opmode.oneshot_wait);
            VREPWrapper.simxGetObjectHandle(_clientId, R.Origo, out _handleRelative, simx_opmode.oneshot_wait);

            Debug.WriteLine("Handle left motor: " + _handleLeftMotor);
            Debug.WriteLine("Handle right motor: " + _handleRightMotor);
            Debug.WriteLine("Handle laser scanner: " + _handleSick);

            Localization.ClientId = _clientId;
            Localization.HandleSick = _handleSick;
            Localization.HandleRelative = _handleRelative;
            MapBuilder.RequestLaserScannerDataRefresh += RequestLaserScannerDataRefresh;
            MapBuilder.CalculatePose += CalculatePose;

            _mapBuilderThread = new Thread(MapBuilder.BuildLayers);

            try
            {
                _mapBuilderThread.Start();
            }
            catch (Exception ex)
            {
                Debug.WriteLine(ex);
            }

            VREPWrapper.simxStartSimulation(_clientId, simx_opmode.oneshot_wait);
            SimulationIsRunning = true;
        }