# Cannot load URDF model meshes into Ign Gazebo and strange renderer behaviour

Hi, I am currently not able to display my models meshes in Ignition Gazebo and, also, the GUI visualization is behaving strange. My setup is the following:

• I am using ROS2 and Ignition Fortress
• I have an xps13 with an integrated Iris620 graphics card
• I am spawning the robot and starting Ignition through ROS2 launch files

As you can see from the following picture, I am able to spawn the model and its meshes in Gazebo Classic without problems (after having added <gazebo_ros gazebo_plugin_path="${prefix}/lib" gazebo_model_path="${prefix}/.." /> into my package.xml ).

Note that also the "custom" ground texture is displaying correctly. On the contrary, on Ignition, I face the following issues:

• 1) If I try to load my ignition world using my custom ground plane (exactly the same SDF), the result is the following:
• 2) The renderer behaves strangely (I have removed the ground texture):

As you see, when I am on top of the ground plane, there are some strange white points flickering (note I have added some clouds). When moving beneath, the situation becomes even worse.

In my xacro, the mesh is specified with <geometry> <mesh filename="package://wheebbot/description/meshes/full_no_knee_no_wheels.dae" scale="1.0 1.0 1.0" /> </geometry> but, as you see in the screen, for some reason Ignition is looking for meshes in model://wheebbot/description/etc... . As a side note, Ignition is however able to load the rest of the model (i.e. collisions):