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Running a Camera Sensor Headless

asked 2016-10-19 08:02:48 -0500

JLiviero gravatar image

updated 2016-10-24 16:57:20 -0500


We are looking to run a camera sensor headless on a VM, however when we do so several of the camera's image topic (notably, camera/image_raw) are not published. At ROSCon, I spoke briefly with Jose, who indicated that this could be done fairly painlessly, and is actually used for Gazebo's CI tests. How would I go about enabling that capability?

To clarify, we already have a camera plugin that runs just fine on a display-enabled machine. Our robot is defined in a URDF and launched using roslaunch. However, note that the "headless" option exposed by gazebo_ros_pkgsdoesn't actually work - see

I also don't see an explicit "headless" option list in the Gazebo code. The Gazebo devs did mention that such a mode was possible, I just can't figure out how.

(Running Gazebo 7 and ROS Indigo)

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answered 2016-10-31 13:26:14 -0500

JLiviero gravatar image

Thanks guys. I've got a solution, which I'll post here for the benefit of anyone else who comes searching for such a thing later.

Because our VMs aren't running NVidia drivers as a rule, I wanted to explore some other options before attempting Jose's solution. Based on Nate and Jose's comments, I went digging into virtual xservers and found this old comment, which led me to Xvfb. With Xvfb, I was able to do the following:

$ Xvfb :1 -screen 0 1600x1200x16  &
$ export DISPLAY=:1.0
$ roslaunch etc etc.launch

...which let me run the camera plugin headlessly on a VM with no problems. Here's a screen grab from the camera, taken remotely by connecting RQT to the robot on the VM:

image description

(This timely Gazebo fix was also helpful.)

Thanks again!

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This solution worked with my launch file. Thank you for sharing your fix!

GL gravatar imageGL ( 2017-01-12 16:41:55 -0500 )edit

answered 2016-10-19 14:06:43 -0500

chutsu gravatar image

updated 2016-10-19 14:07:34 -0500

I think it can be done by running the Gazebo server in Headless mode with the following command

gzserver  # then you can use gz topic -l to verify it is running

By default it doesn't have a camera sensor, so you will have to define your own world SDF file with a camera sensor.

The rest is up to you.

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As I noted in the question, we already have a camera plugin that runs just fine on a display-enabled machine. Our robot is defined in a URDF and launched using roslaunch. I should have been more clear, sorry - I've updated my original question accordingly.

JLiviero gravatar imageJLiviero ( 2016-10-24 16:52:16 -0500 )edit

`gzserver` runs headless. Your machine will need an xserver running if you want to render camera data.

nkoenig gravatar imagenkoenig ( 2016-10-25 08:42:55 -0500 )edit

answered 2016-10-26 14:55:40 -0500

Jose Luis Rivero gravatar image

Hello Jordan:

As Nate has mentioned in the comments, you will need an xserver running to be able to render camera data. In order to have an xserver running with a headless setup and assuming that you are using an Nvidia card, you could use (starting with 331.* driver series):

nvidia-xconfig --allow-empty-initial-configuration

This should generate the following configuration in your Xorg.conf file:

Section "Screen"
    Identifier     "Screen0"
    Device         "Device0"
    Monitor        "Monitor0"
    Option         "AllowEmptyInitialConfiguration" "True"

Hope it helps. Thanks for sharing the feedback in the ROSCon!

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Hi Jose, For this to work, do you also need to set up a display server like Xvfb? I am trying to run Gazebo on a Google Compute Engine instance running Ubuntu 16.04 with an Nvidia K80 GPU and have yet to get it working. If you are willing to take a look, I included a few more details in my StackOverflow post:

jsather gravatar imagejsather ( 2018-08-28 00:42:01 -0500 )edit
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Asked: 2016-10-19 08:02:48 -0500

Seen: 6,537 times

Last updated: Oct 31 '16