[Bug] Gazebo headless rendering is impossible with multiple vehicles

[matteodelseppia]

Describe the bug

When working with multiple iris the gzclient seems tied in some way to the simulation. From what I understand, gzclient should be completely optional unless there is some kind of live rendering being performed, e.g. a drone with a camera. I checked the Tools/simulation/gazebo-classic/sitl_run.sh script to understand how the headless rendering is achieved with a single drone and it seems the solution is just not to run the gzclient, but when I try this approach commenting out the call to gzclient in sitl_multiple_run.sh the gzserver starts and immediately stops, and a single instance of px4 continues running all by itself.

To Reproduce

To reproduce, just comment out the call to gzclient in Tools/simulation/gazebo-classic/sitl_multiple_run.sh and try running a simulation with multiple drones using the script.

Expected behavior

The gzserver should continue running even if the gzclient has been closed or did not start at all.

Screenshot / Media

No response

Flight Log

//

Software Version

1.14

Flight controller

//

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response