From 8c7e64fb741e02ed12b46c41c07b2527d2df0cbc Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Mon, 15 Aug 2022 11:15:03 +0200
Subject: [PATCH] Run ignition gazebo as distributed lockstep

---
 Tools/sitl_run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index a7ebb85fce..579958177a 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -198,7 +198,7 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 	export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${src_path}/Tools/simulation/gazebo/models
 	#ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.world"&
 
-	ign gazebo -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.sdf" &
+	ign gazebo --distributed --network-role=primary --network-secondaries=1 -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.sdf" &
 
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"