Running physics first time takes longer
I noticed that running Gazebo for the first time takes longer than subsequent times. I noticed this when subscribing to /gazebo/get_physics_properties service from ROS. What is being done this first time, and is there a way to speed it up?
I don't have the answer :/ but I'm interested because I am always surprised each time I launch a simulation for the first time
I think the issue here is that initially Gazebo contacts the server to obtain models or other data that is needed for the simulation. Hopefully someone will leave a pointer on how to prevent this.
yes I am searching for a solution to disable this "Getting models from...". If i find a solution I will tell you
if your world file includes models that are not found locally, gazebo will try and download them from the online model database. The model files are stored in ~/.gazebo/models. So if you pre-populate that directory with your models then gazebo should find it and launch immediately
Actually there is now real way to disable "Getting models from...". @iche033 how can we pre-populate that directory with custom model (my robot) ?
@iche033 I forgot to mention that I pre-populate the directory (I only deal with custom models anyway), but it still takes time. @blevesque You just download the models from Gazebo and place them in ~/.gazebo/models
that's strange. If all the models (incl. materials, meshes, textures) are in ~/.gazebo/models then you should never see the "Getting models from..." message. Does it print anything after this message? Can you post the full console output from running `gazebo --verbose your_world_name.world`?