|Please ask about problems and questions regarding this tutorial on answers.gazebosim.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Running Simulator HeadlessDescription: Running simulation without a graphics card or GLX support.
Tutorial Level: INTERMEDIATE
Users are highly discouraged from using the documentation and tutorials for Gazebo on this page. Gazebo is now a stand alone project at gazebosim.org. See documentation there, thanks!
Running Gazebo Simulator Headless
When the graphics card or driver does not fully support OpenGL rendering (see simulator_gazebo/SystemRequirements, specify '-r' option when starting up gazebo to disable any function calls to simulator rendering (Ogre) components. For example,
rosmake gazebo_worlds roslaunch gazebo_worlds empty_world_no_x.launch
This is essentially the same as doing below under C-Turtle:
rosmake gazebo_worlds rosrun gazebo gazebo -r `rospack find gazebo_worlds`/worlds/empty.world
or equivalent for Box-Turtle:
rosmake gazebo_worlds source `rospack find gazebo`/setup.bash rosrun gazebo gazebo -r `rospack find gazebo_worlds`/worlds/empty.world
Nothing will appear on the screen after executing one of the above commands, but simulation should be running. After which, you can proceed as usual to adding objects to the world.
Note that in this mode, the simulation runs without starting up any of the components that requires OpenGL/GLX capabilities. This means that camera image sensors and the GUI window are not created, but everything else should work as before (e.g. dynamics, laser sensors, etc.).