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Instructions for parallel ROS + Gazebo executions

  1. Modify the /usr/share/gazebo/setup.sh and replace

    export GAZEBO_MASTER_URI=http://localhost:11345

with

`export GAZEBO_MASTER_URI=${GAZEBO_MASTER_URI:-"http://localhost:11345"}`

  1. In the a new shell, set a new port for the rosmaster:

    export ROS_MASTER_URI=http://localhost:11315

  2. You also need to update a new port for gazebo:

    export GAZEBO_MASTER_URI=http://localhost:11355

  3. Now, if you launch a new process from this shell, you'll have a complete separate environment from what's already running on your machine.

Additional resources

  1. RosAnswers topic
  2. RosGazeboParallelSimulations example code