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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:
Models folder in the TurtleBot Maze workspace showing downloaded Gazebo models

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Edit the world file

Manually edit the sim_house_enhanced.sdf.xacro file located at: 
tb_worlds/worlds/sim_house_enhanced.sdf.xacro
File explorer showing the tb_worlds/worlds directory with sim_house_enhanced.sdf.xacro highlighted

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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)
SDF xacro file showing include blocks for AirportBench, beer, and cricket ball models with pose coordinates
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:
Model directory structure showing meshes, thumbnails, model.config, and model.sdf files
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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