The ISCAS Museum is an indoor Gazebo model of a multi-room museum hall — open central spaces connected by narrow corridors, with textured walls and floor. It's a static structure you spawn into a world, built as a navigation and mapping testbed: small enough to map quickly with a lidar, but with enough geometry (corners, doorways, dead ends) to exercise SLAM loop closure, costmap inflation, and global planners.
A detailed indoor Gazebo model of a multi-room museum hall — open galleries, connecting corridors, and walls with textured surfaces. It's a ready-made environment for testing navigation, mapping (SLAM), and obstacle avoidance without building a world from scratch.
This is a Gazebo model (a single static structure), not a full world. You spawn it into a world — add your own ground plane, lighting, and physics, then drop the museum in as the scenery.
| File | Purpose |
|---|---|
model.sdf | The model definition — a single static link with the museum mesh. |
model.config | Fuel metadata (name, author, SDF version). |
meshes/ISCAS_museum.dae | The COLLADA mesh — the museum geometry. |
materials/textures/ | Wall and floor textures referenced by the mesh. |
The fastest way — reference it by URI in any world SDF. Gazebo fetches it on launch, the same way it pulls models from Gazebo Fuel:
<include>
<uri>https://assets.leetrobotics.com/1.0/leetrobotics/models/iscas_museum</uri>
<pose
Drop that inside your <world>, alongside a ground plane and a sun:
<world name="museum_world">
<include>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun</uri>
</include>
<include>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
</include>
<include>
<uri>https://assets.leetrobotics.com/1.0/leetrobotics/models/iscas_museum</uri>
<pose>0 0 0 0 0 0</pose>
</include>
</world>Then launch it:
gz sim museum_world.sdfPrefer a local copy? Download and extract the bundle, then point Gazebo at it:
# Make a folder for the model in your ros workspace and cd into it
mkdir -p ~/ros2_ws/models/iscas_museum && cd ~/ros2_ws/models/iscas_museum
# Download and extract the bundle
curl -sSLO https://assets.leetrobotics.com/1.0/leetrobotics/models/iscas_museum/tip/iscas_museum.zip
unzip -o iscas_museum.zip && rm iscas_museum.zip
# Tell Gazebo where to find it (add to .bashrc to persist)
export GZ_SIM_RESOURCE_PATH=$HOME/ros2_ws/models:$GZ_SIM_RESOURCE_PATHWith the path set, you can reference it locally as model://iscas_museum inside
any world.
Once the world is running, spawn a robot into the museum and start driving:
ros2 run ros_gz_sim create -world museum_world -name turtlebot3 \
-x 0 -y 8 -z 0.1 -file turtlebot3_burger/turtlebot3_burger.sdfSun (or your
own <light>) in the world or the scene renders dark.The museum mesh originates from the open-source ISCAS Museum model by Changkun Chai. Re-hosted here, bundled with its textures, so it loads in one step.