When using roslaunch pr2_gazebo pr2_wg_world.launch, gazebo has been stuck in the page where the model is loaded. After several searches, I found that this is because there is no target model needed in the ~/.gazebo/models directory.
In the address [1] the author gives a solution: (only need to download the model file from the website)
cd ~/.gazebo/models
hg clone https://bitbucket.org/osrf/gazebo_models
However, due to the domestic network, leading to download these files gazebo model extremely slowly, so slowly after I downloaded via computer labs, these files are packaged on the model code of cloud and network disk for everyone to pack download.
Usage 1:
cd ~/.gazebo/models
git clone https://gitee.com/cenruping/gazebo_models.git
Usage 2: Go
to the address ( [2] or [3] ) to download the compressed package file and unzip it to cover all files under ~/.gazebo/models.
At this time, start the pr2_gazebo simulation to get the correct result:
roslaunch pr2_gazebo pr2_wg_world.launch
This problem is solved.
Reference materials:
[1] https://magicalsoso.github.io/2019/04/21/Gazebo-cant-load-willowgarage-world/
[2] Download address 1: https://gitee.com/cenruping/gazebo_models
[3] Download link 2: https://pan.baidu.com/s/1MfX_0mGQC3PmMFuO3gliSQ