Can I run simulation in gazebo and all of them are on the PR2 robot? My scenario is that when a robot generates a plan, it might be safer if it can simulate first in its "mind" before execution. After it gets a successful plan, we can apply the plan to the real robot and the physical world. If it fails in the physical world, then we can modify the world model in the simulator and finally build up a good-enough world model.
But I found that most of the nodes and topics generated when I roslaunch pr2_empty_world.launch, will duplicate with those in the robot. So once I launch it in the robot, it will replace the ones belong to the robot and cause lots of errors.
So my question is how to run the simulation in PR2? When we get the good plan, how to synchronize the simulator and the robot? Or if there is a better approach to do the simulation in robot?
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