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You can start multiple gzserver instances on the same machine using the GAZEBO_MASTER_URI environment variable. Here is an example

  1. Start gzserver and gzclient. By default they operate on localhost:11345

    Terminal 1: gzserver

    Terminal 2: gzclient

  2. Start a gzserver and gzclient on a different port

    Terminal 3: GAZEBO_MASTER_URI=localhost:11346 gzserver

    Terminal 4: GAZEBO_MASTER_URI=localhost:11346 gzclient

Here is a shorter version:

Terminal 1: gazebo

Terminal 2: GAZEBO_MASTER_URI=localhost:11346 gazebo