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Gazebo Office .world

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Hi,
I want to perform Localization of TurtleBot Using Monte Carlo Localization in MATLAB 2019 in Windows and ROS kinetic in a separate Linux (ubuntu 16,04) according to this tutorial : https://www.mathworks.com/help/nav/ug/localize-turtlebot-using-monte-carlo-localization.html where It is instructed to install ROS Virtual machine. The ROS VM has a range of Gazebo world start-up scripts which are unavailable in my ROS kinetic installed in Linux. It is not even available in server. How can I get that Gazebo Office .world file for my ROS? and Would that tutorial be effective in my case?

Accepted Answer

Remo Pillat
Remo Pillat on 2 Oct 2020
Hi Labid,
You can find the relevant Gazebo files for the "Office" environment in the virtual machine you downloaded.
The main world file (turtlebot3_mw_office.world) is located in the /opt/ros/melodic/share/turtlebot3_gazebo/worlds folder.
You can copy the whole turtlebot3_gazebo package to a new ROS Melodic installation and launch the world from there:
  • Install the standard turtlebot3_gazebo package
sudo apt install ros-melodic-turtlebot3-gazebo
  • Copy the /opt/ros/melodic/share/turtlebot3_gazebo from the virtual machine to your other ROS installation in /opt/ros/melodic/share
  • Try starting Gazebo with the new world
export TURTLEBOT3_MODEL=waffle_pi
source /opt/ros/melodic/setup.bash
roslaunch turtlebot3_gazebo turtlebot3_mw_office.launch

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