Does anybody know of any readily accessible gazebo worlds with a roof?

I have several environments without a roof, and one with a roof (that is too high up for the required purpose), i could do with another. The first floor of any building will do just fine.

Background - I'm testing a 3D mapping package, with a velodyne LiDAR. In the real world the roof of an environment gets compacted down as an obstacle, and I need an environment to tune the parameters to prevent this happening / check that that doesn't happen with this setup.

Any help would be greatly appreciated.

  • $\begingroup$ what is preventing you from adding a roof? $\endgroup$
    – jsotola
    Dec 18, 2021 at 5:15

1 Answer 1


There are several world files with enclosed spaces in the Ignition Fuel website:

The Edifice Demo world is indoors, though perhaps the roof is too high

Just about all of the sub-T worlds are in tunnels, which have a roof.

  • $\begingroup$ Awesome thanks! $\endgroup$
    – Ben Bird
    Dec 19, 2021 at 11:28

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