Create a ROS 2 World in ROS 2 Galactic from import Sketchfab models

Step 1: Launch Gazebo Empty World and Spawn Robot

ros2 launch my_custom_world start_empty_world.launch.py

Step 2: Spawn models into world

1. Download models in Sketchfab

2. Import them in Blender and do your edits (Add multiple models, join them, scale them, position them ...)

3. Export Blender file as a Collada file (.dae). For example name it my_env.dae.

4. Add the new model data into the models folder.

Step 3: Save world from Gazebo

1. In Gazebo select: File then Save World As.

2. Save it inside the worlds folder and name it my_world.world.

3. Update start_my_world.launch.py so that it reads the new my_world.world file.

4. All this is done so that we can directly launch the final world from the start_my_world.launch.py