Revision history [back]

gz server is basically for simulating the physics sensors, rendering

gz client, for example, provides graphical interface to visualize and simulation

and gz server and client communicate using gazebo library.

Please find more details in this link

http://gazebosim.org/tutorials?tut=architecture&cat=get_started

I am not sure about your second part of the question but I think that gzserver uses multiple nodes corret me if i am wrong I think gzclient's transport connects to a specific port, and you can't have more than one gzserver running in the same port b