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Run Gazebo 1.9 headless

For a series of unattended simulations, we'd like to utilize a bunch of VMs on a server. For this, we'd like to run a Gazebo simulation server in headless mode (since a] the server has no graphics card and b] Gazebo does not like VirtualBox's OpenGL capabilities).

I've found a few mentions of using the commandline argument -r to run in headless (no OGRE/OpenGL) mode, but this seems to have changed in recent Gazebo. In the --help screen of Gazebo 1.9.5, the -r option is listed as "record", and no mention is made of a headless mode.

So my question is, how do I run a Gazebo 1.9 server in headless mode?

PS: If this is not available in the standard binary releases (we're using the DEB packages at the moment), I could also recompile Gazebo. I just need to find out how to use a Gazebo 1.9 with a ROS-fuerte.... (but that's not part of this question)

Run How to run Gazebo 1.9 headless

For a series of unattended simulations, we'd like to utilize a bunch of VMs on a server. For this, we'd like to run a Gazebo simulation server in headless mode (since a] the server has no graphics card and b] Gazebo does not like VirtualBox's OpenGL capabilities).

I've found a few mentions of using the commandline argument -r to run in headless (no OGRE/OpenGL) mode, but this seems to have changed in recent Gazebo. In the --help screen of Gazebo 1.9.5, the -r option is listed as "record", and no mention is made of a headless mode.

So my question is, how do I run a Gazebo 1.9 server in headless mode?

PS: If this is not available in the standard binary releases (we're using the DEB packages at the moment), I could also recompile Gazebo. I just need to find out how to use a Gazebo 1.9 with a ROS-fuerte.... (but that's not part of this question)