I'm running into large (~40s) delays when starting gzclient w/ the default turtlebot3 world.

In terminal 1 run gzserver /opt/ros/foxy/share/nav2_bringup/worlds/waffle.model

In terminal 2 run gzlient

Expected: world will come up in a few seconds.

Actual: the client takes about 40s to come up. The world looks correct.

Environment: Gazebo 11.1.0, ros2 Foxy, Ubuntu 20.04

GAZEBO_MASTER_URI=http://localhost:11345
GAZEBO_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:
GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
GAZEBO_RESOURCE_PATH=/usr/share/gazebo-11:/usr/share/gazebo-11:
GAZEBO_MODEL_PATH=/usr/share/gazebo-11/models::/home/clyde/ros2/nav2_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models

I've also run into this problem with my own worlds which use plugins and models. The same world came up quickly in Gazebo 9 & ros2 Eloquent.

It feels like there's a missing model, but I don't see any error messages. How would I track this down?

Thanks.

Edit: I now understand that the delay is in gzserver. When I run the nav2 tbt3 launch file ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True without gzclient I'm seeing similar behavior: it takes ~40s for the plugins to start sending /tf messages.