How can I run Gazebo and the real PR2 simultaneously?

asked 2013-10-22 06:48:58 -0500

updated 2014-11-22 17:05:02 -0500

ngrennan gravatar image


I try to run a Gazebo simulation of a physical environment and the (real) PR2 at the same time. Running the PR2 first and launching Gazebo then leads to a broken PR2 connection (Dashboard disconnects..).

I suppose this is mainly because of Gazebo sets 'use_sim_time' to true on the param server and publishes on the /clock topic.

My question is then actually if someone tried something similar already or has any ideas or hints to bring me on the right track.

BTW I want to validate robot actions in simulation before executing them.

Thanks a lot.

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You probably need to run simulator in another namespace (push all topics etc. under /sim/ for instance) otherwise strange things may happen.

ZdenekM gravatar image ZdenekM  ( 2013-11-18 22:46:30 -0500 )edit

As far as I know - use_sim_time is setted in launch, isn't it?

ZdenekM gravatar image ZdenekM  ( 2013-11-18 22:47:03 -0500 )edit