How to gazebo master uri in roslaunch file?

asked 2016-04-19 15:45:23 -0500

cybodroid gravatar image

I know that there are bunch of parameters we can define for gazebo in ros launch file

For example:

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>

On a similar line, is there anyway to define GAZEBO_MASTER_URI in launch file?

Please not that setting GAZEBO_MASTER_URI in shell using export command is not starting gzserver in specified URI.

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I'm using Kinetic myself and trying to figure this exact issue out. It appears that using the <env> tag within a node, or within a group sets the URI correctly for one, but not two groups. For example, I cannot set the URI for two separate gzservers, even though this is possible from the cmd line.

JaredMoore gravatar image JaredMoore  ( 2016-07-26 08:01:30 -0500 )edit