为了解决gazebo模型加载不出来的问题，我们可以采取预先下载好所有可能用到的模型，然后快速启动
cd ~/.gazebo
git clone https://github.com/GoesM/gazebo_models.git models
rm -rf models/.gitexport TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
forked from osrf/gazebo_models
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gazebo模型预下载
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