IGVC Basic Course Gazebo Simulation Steps to configure Install the models into the gazebo models folder. cd ~/caffeine-ws/src/Caffeine/worlds/models ./install_models.sh Build src cd ~/caffeine-ws catkin_make Possible Actions Launch only the world in gazebo gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_plain.world gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_ramp.world gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_walls.world gazebo ~/caffeine-ws/src/igvc_world/worlds/igvc_full.world Launch the world and caffeine ex. roslaunch description caffeine_gazebo.launch world:="full" world can take on values "plain" (default), "ramp", "walls", "full" plain has neither walls nor ramps ramp has only ramps walls has only walls full has both walls and ramps