Ein has a simulation mode that allows it to run without being connected to any robot. This mode can be used to view data from the Million Object Challenge and render photographs. To start Ein in simulation mode, first change “physical” to “simulated” in the command line arguments. This will cause Ein to start with fake sensor data from Baxter. It will generate fake camera images and poses so that various parts of the system will not crash.

Here is an example: catkin_make && gdb --args ./devel/lib/ein/ein physical left.

You will need to start your own ROS core: roscore in another terminal, and make sure that your ROS_MASTER_URI is set appropriately. If you run the screen session with no arguments, it will default to localhost so everything should work. If you encounter problems, most likely your $ROS_MASTER_URI or $ROST_HOSTNAME or $ROS_IP are set incorrectly.