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Running Gazebo and ROS on two separate computers

kinetic

asked 2023-03-27 17:47:56 -0500

likely_studying
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Hi I would like to know if there is a way to run Gazebo and ROS on two separate computers. I have a project that has ROS and we simulate with Gazebo for testing and they are both on the same computer but because Gazebo is pretty heavy whenever we run simulation we want to run Gazebo on a separate computer from the one that runs ROS. How can I do it and how does the communication work between Gazebo and ROS ?

Thanks

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answered 2023-03-30 07:42:50 -0500

AlessioParmeggiani

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updated 2023-03-30 07:44:37 -0500

you must have both computers on the same local network, then on each terminal you have to do:

 1. export ROS_IP=IP_OF_THIS_MACHINE  (e.g. 192.168.1.1)
 2. export ROS_MASTER_URI=http://IP_OF_THE_MASTER_MACHINE:11311 (e.g. http://192.168.1.0:11311)

The master machine is the machine that launches the roscore command (or in case of launch files, the first machine that launch a file).

You should now be able to see the topic published by Gazebo on the other computer.

Some more informations here.

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Asked: 2023-03-27 17:47:56 -0500

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Last updated: Mar 30 '23

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Running Gazebo and ROS on two separate computers