roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
roslaunch turtlebot3_example turtlebot3_obstacle.launch
in ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo
in /models add a model folder called LabWorld
in /worlds add a .world file
in /launch add a .launch file
Launch the world using roslaunch turtlebot3_gazebo turtlebot3_stage_5_my.launch
In /my_nodes/src, copy turtlebot3_obstacle and modify