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You can run both robots (simulation and real) in their own name spaces.. The robot in gazebo and the real robot can subscribe to the same Twist topic (e.g. /cmd_vel).

If you do this, then both robots will move. You will need to pick one of them to generate the map depending on what it is that you're actually trying to accomplish.

There are no guarantees that the robots will be in the same place when the sequence of Twist messages have been executed due to things like friction and simulation approximations.