> For the complete documentation index, see [llms.txt](https://wiki.hanzheteng.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.hanzheteng.com/development/ros/gazebo.md).

# Gazebo

## Download Gazebo models from official database

```bash
#!/bin/sh

# Download all model archive files
wget -l 2 -nc -r "http://models.gazebosim.org/" --accept gz

# This is the folder into which wget downloads the model archives
cd "models.gazebosim.org"

# Extract all model archives
for i in *
do
  tar -zvxf "$i/model.tar.gz"
done

# Copy extracted files to the local model folder
cp -vfR * "$HOME/.gazebo/models/"
```

## Bug Fix: Error in REST request

This is a known bug in Ubuntu 18 and above. 

* launch Gazebo simulator for the first time, so that the `~/.ignition` folder will be created. 
* open file `~/.ignition/fuel/config.yaml` and replace the url inside from `https://api.ignitionfuel.org` to `https://api.ignitionrobotics.org`.

## Bug Fix: vmw\_ioctl\_command error Invalid argument

This can happen (and only happens) in virtual machine environments.

* disable OpenGL 3.0 and use OpenGL 2.1 by enabling the environment variable `SVGA_VGPU10`
* run `echo "export SVGA_VGPU10=0" >> ~/.bashrc` command **once** and restart terminals

Remember to unset this environment variable if you need OpenGL for graphics (e.g., point cloud visualization in Open3D).


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://wiki.hanzheteng.com/development/ros/gazebo.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.