How to use ros_control with Gazebo AND the real robot hardware?

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!

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