Hi, When running gazebo 11.12 with ROS 2 Foxy and Ubuntu 20.04, it shows this warning:

[gzserver-1] [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.

and then gets stuck for around a minute, until finally showing the the world. But it happens every time I run it, so clearly is not downloading any model

In particular, I'm just running the first ROS 2 navigation example:

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

The same works fine on ROS2 Humble and Ubuntu 22.04!

I have found the same issue reported on different places, eg. on this question, but none of the solutions that I have found so far works except disconnecting my PC from internet when launching. I tried

• setting GAZEBOMODELDATABASE_URI
• downloading the models to $(HOME)/.gazebo/models

Thanks!