Hi Kei,
Gazebo supports following modes:

   - -g : headless, no gui, but still generates image sensors.
   - -r : headless, no gui, no image sensor generation.   This mode is
   needed to run gazebo when X server with glx support is not available.
   - -p : physics engine disabled, "no-sim" mode.

I've in the past experimented with splitting gazebo into a purely image
sensor generator node and a non-rendering node, I have not been supporting
that feature.  Is it something that will help your simulation scenario?
John


On Wed, Sep 15, 2010 at 8:20 AM, Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>wrote:

> Hi
>
> Regarding to speeding up simulation, is it possible to run headless
> simulator with image sensor generation?
> I found tutorial page but this is empty.
> http://www.ros.org/wiki/pr2_simulator/Tutorials/SensorGenerationNode
>
> I'm also looking for "no-sim" mode that doesn't calculate physics
> dynamics, but simulate image and laser sensors.
>
> =
> Kei Okada
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