Anyone who has studied ros should be familiar with the gazebo simulation software, but sometimes it is really annoying to start up. It is often stuck in this place for a long time. Check the information. When the gazebo software is started, it will automatically download the model from the foreign official website, so the process is relatively complicated. It takes a long time because the website is abroad and the download is not smooth. There is a way to speed up startup by disconnecting the network connection, but it is still inconvenient to disconnect from the network frequently.
Start solving. If you have already installed gazebo and models, you can skip the first two steps.
1. Install gazebo and ros related plug-ins
sudo apt install ros-$ROS_DISTRO-gazebo-ros
After the installation is complete, run the terminal and enter: gazebo. When you see the interface, the installation is successful.
If you have already installed it, you can skip this step.
2. Download gazebo model
cd ~/.gazebo
git clone https://github.com/osrf/gazebo_models.git
Rename the downloaded gazebo_models model folder to models
When you open gazebo, the model will be loaded directly in models.
Three shield gazebo profiles
After the above steps, sometimes it will still automatically connect to the Internet and affect the startup speed.
Open the gazebo_model.py configuration file in Notepad
Block and save all the contents inside (put a # sign in front of each line)
After this process, opening gazebo will be very fast.
