To Load Models in Gazebo Harmonic, you can choose one of two methods, depending on your workflow:

1. Download model files from Fuel and spawn from local sources using the Resource Spawner plugin:

   • Download the model files from app.gazebosim.org/fuel/models.

   • Extract the files and place them under your local model directory (e.g. ~/path_to_models/model-name). The model-name folder should contain materials, meshes as well as the model.config and the model.sdf files.

   • Add your model directory as a resource by running the following command in the terminal:

     gedit ~/.bashrc
     

     Then add the following line to the last line of the file:

     export GZ_SIM_RESOURCE_PATH=~/my-local/path_to_models/
     

     Open the Gazebo Simulator and add the Resource Spawner Plugin, the model should now show up under your local resources.

     

2. Copying the SDF snippet and adding it to your custom world SDF file:

   By Using the <> button you can directly copy a SDF which looks like:

   <include>
   	<uri>
   		<https://fuel.gazebosim.org/1.0/hmoyen/models/teledyne_whn_uuvsim_bare_model>
   	</uri>
   </include>
   

   More information on how to build your own world SDF files can be found in the tutorial on SDF Worlds.

<aside> ℹ️ To launch the models using ROS 2 Jazzy and Gazebo Harmonic, please refer to the examples provided here: https://github.com/IOES-Lab/dave/tree/ros2/dave_demos

</aside>