> 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).