Ian Chen

@osrf-jenkins run tests please

made some minor changes in [72b8f3c](https://github.com/gazebosim/gz-sim/pull/2398/commits/72b8f3c5d3522f3f4ae9b866436a1ef48b5d6f60) - simplified gravity component data check, and updated style and indentation.

@ahcorde friendly ping to see if you're ok with the new changes and also merging this PR?

I think the alternative approach would be to update the the physics system populate the bounding box component for links as well? I see the API available in gz-physics, [GetLinkBoundingBox](https://github.com/gazebosim/gz-physics/blob/gz-physics8/include/gz/physics/GetBoundingBox.hh#L40)

I think getting the bounding box info from the physics system is preferred because it has the information already, and there is no need for a custom mesh bounding box...

Are there any errors printed in the console? Dome -> Fortress: we upgraded ogre from 2.1 to 2.2 but not sure if that's the reason or not. ``` 17:33:42: Can’t...

> An alternative reason: Ignition Fuel is trying to load models that are no longer accessible. Is there a way to setup Ignition Fortress to use local files by default...

AFAIK the `"headless:=true"` option through ROS launch script just disables GUI window but does not actually enable EGL (a little confusing because both are sometimes referred to as headless). >...

with https://github.com/gazebosim/gz-sim/pull/2460, support for publishing units as tesla should now be available. It would be nice to add the integration test from this PR though.

note the component inspector also has a `+` on the top right corner that pops up a [dialog](https://github.com/gazebosim/gz-sim/blob/0f5d31ef5951fce5a58fa36003a29341de81d64c/src/gui/plugins/component_inspector/ComponentInspector.qml#L251) for adding a plugin to an entity. It would be nice to...