Gazebo remote simulation
Vizzy's gazebo simulation can be quite heavy for some computers. Fortunately, it is possible to run gazebo server and gazebo client on different machines if they can access each other through IPV4.
Be sure that each machine can ping each other. To avoid problems in the long run add each machine's hostname and IP in the /etc/hosts file. Check that everything works by pinging each other's hostnames.
You need to set the GAZEBO_MASTER_URI and GAZEBO_IP your client machine. You can do so by adding the following lines to your .bashrc (don't forget to source ~/.bashrc):
export GAZEBO_MASTER_URI=[the_server_ipv4]:11345
export GAZEBO_IP=[your_ipv4_in_the_servers_network]
For instance, for a gzserver running in cortex1 and a gzclient running in vizzy-laptop you would need to set them this way in vizzy-laptop's .bashrc:
export GAZEBO_MASTER_URI=10.10.1.1:11345
export GAZEBO_IP=10.1.3.3
Run your simulation launcher as you normally do. To considerably save resources set the "gui" argument to false (you can get an increase of more than 50% in the real-time factor by doing this!).
Run gzclient:
gzclient --verbose
https://answers.gazebosim.org//question/25610/mesh-path-from-gzserver-to-gzclient/
