The ISCAS Museum is an indoor Gazebo world modeled after a multi-room museum hall — open central spaces connected by narrow corridors, with textured walls and floor. It's 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.
Download into your ROS 2 workspace. We use ~/ros2_ws as a placeholder — swap in your own path.
# Make a folder for the world in your ros workspace and cd into it
mkdir -p ~/ros2_ws/worlds/iscas_museum && cd ~/ros2_ws/worlds/iscas_museum
# Download and extract the bundle
curl -sSLO https://assets.leetrobotics.com/1.0/leetrobotics/worlds/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=$HOME/ros2_ws/worlds:$GZ_SIM_RESOURCE_PATH