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Why does Gazebo executes two times?

asked 2017-06-17 12:01:32 -0600

michael1234 gravatar image

updated 2017-06-17 19:33:38 -0600

When I open Gazebo:

gazebo --verbose

Gazebo is called two times:

Gazebo multi-robot simulator, version 8.1.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
Gazebo multi-robot simulator, version 8.1.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Why it is executed two times?

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answered 2017-06-17 13:50:03 -0600

chapulina gravatar image

When you open Gazebo, you spin up two processes:

  • a server gzserver for simulating the physics, rendering, and sensors

  • a client gzclient that provides a graphical interface to visualize and interact with the simulation

It's also possible to run these processes separately.

You can read more on Gazebo's architecture on this tutorial.

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A detailed answer, thanks!

michael1234 gravatar imagemichael1234 ( 2017-06-17 19:23:34 -0600 )edit
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Asked: 2017-06-17 12:01:32 -0600

Seen: 135 times

Last updated: Jun 17 '17