40s delay when starting gazebo with tbt3

asked 2020-10-10 11:14:46 -0600

clydemcqueen gravatar image

updated 2020-10-10 11:30:10 -0600

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


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?


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.

edit retag flag offensive close merge delete