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This guide explains how to add 3D objects from the Gazebo Fuel model database into your TurtleBot Maze simulation environment.

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Download models

Browse and download models from the Gazebo Fuel database. Place downloaded model folders into the models directory of your workspace:

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Edit the world file

Manually edit the sim_house_enhanced.sdf.xacro file located at:

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Insert objects into the world

Add <include> blocks to the SDF file for each object you want to place. Each object needs:
  • A <uri> pointing to the model (e.g., model://AirportBench)
  • A unique <name> (duplicate names cause errors)
  • A <pose> specifying position (x y z roll pitch yaw)
Positioning tips:
  • Benches are inserted at z = -0.29 to make them low enough to be visible
  • Adjust the z coordinate so objects are at a sufficient height to be seen by the robot’s camera
  • Every object must have a unique name or the simulator will throw an error

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Model folder structure

Each downloaded model must have the correct directory structure inside the models folder:
A valid model folder contains:
  • meshes/, 3D mesh files
  • thumbnails/, preview images
  • model.config, model metadata
  • model.sdf, model definition
Some models from the Fuel database may not be compatible with your Gazebo version. If a model fails to load, try a different one from the database rather than spending time debugging compatibility issues.
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