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There is a theoretical problem with what you're trying to achieve. Gazebo is a simulation and is used to replace a real robot in your robotic system. If you want to control your real robot and a gazebo simulated robot you are in effect controlling two different robots not one. You should be able to set this up using namespaces, but I'm not sure this is what you're trying to do.

Why do you want to run Gazebo alongside the real robot?

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