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A similar issue exists when following the Nav2 Getting Started Guide in the ROS 2 Humble container. The slow first launch of Gazebo causes the example to fail.

This initial delay when launching Gazebo is a result of downloading models from the internet. To avoid repeated downloads with each new container, consider mounting the ~/.gazebo/models directory externally.

Note: this issue can be reproduced by launching osrf/ros:humble-desktop-full, installing ros-humble-gazebo-ros-pkgs with apt, and then run ros2 launch gazebo_ros gazebo.launch.py.