My understanding is that Gazebo has a hardware_interface embedded through the corresponding gazebo_ros_control plugin. This enables the reading of the controller’s output. In the specific case of the diff_drive_controller this output would be the left and right speed of the drive wheels.
If I now create my own hardware_interface for a real robot (as in the tutorials), and start this node, I get an error when starting Gazebo because now 2 hardware_interface exist.
So my question is, is it even possible to run Gazebo AND the real hardware_interface at the same time?
Thanks a lot!