Hi,

I am trying to use  the Stage simulation. I am following the tutorial given
on the site

ros.org/wiki/simulator_stage/Tutorials/SimulatingOneRobot

I am able to run the simulation environment and even the command

rosrun teleop_base teleop_base_keyboard base_controller/command:=cmd_vel

But I get a very slow response to the inputs typed on the keyboard. I see
the robot moving very  slowly and after few minutes. Later on the blue robot
just disappears from the screen.

Do I need to change any parameters in the world file ?
I even tried changing the world file to

interval_sim 1  # simulation timestep in milliseconds
interval_real 1  # real-time interval between simulation updates in
milliseconds

But I still get the same response.

I have one more concern.

I was not able to run the command
rosrun rviz rviz -d rviz/stage.vcg

I get the following error.
No protocol specified
Error: Unable to initialize gtk, is DISPLAY set properly?

The result of the command $ echo $DISPLAY
:0.0


Basically I trying to use ROS for a good simulation environment for my
project. Do you recommend me to use Stage or do we have a new simulation
environment by ROS ?

Thank you.


Regards,
Suraj Swami