Record video of headless Gazebo simulation

Gazebo
1

Dear all,

I’m running a Gazebo simulation in CI, and would like to record a video from that, in order to be able to quickly see what went wrong in case of a failure. I found the Video Recorder but that seems to require the GUI, which I do not have in a CI environment (the simulation runs in a headless mode).

Is there a built-in way to do this? As a work-around I might add another camera to the world, and then record that using a script but this feels cumbersome, especially since I’d like a “follow-me” mode where the camera tracks a model in the simulation.

I’d be happy about any tipps and tricks here! :slight_smile:

Best, Michael

2

The GUI is basically also just adding a camera, but with the follow-me sugar etc.

You can run GUI in xvfb or xwfb (possibly accelerated by VirtualGL) to get the recording.