# 11.2.1.1. 在不同的世界地圖中作 TB3 模擬

**1) 在 Empty World 空白地圖** 

以下命令是用來在 gazebo 預設的環境 empty world 空白世界地圖上，測試虛擬的TurtleBot3。

{% hint style="info" %}
Tip：在執行指令前，必須先指定 TurtleBot3 的 model 模型名稱。${TB3\_MODEL} 是表示所使用的 burger, waffle, waffle\_pi 模型的名稱。如果你要永久設定export setting，請參考 [**Export TURTLEBOT3\_MODEL**](http://emanual.robotis.com/docs/en/platform/turtlebot3/export_turtlebot3_model) 網頁。
{% endhint %}

```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
```

<div align="left"><img src="/files/-Ll0IKV1itoAjRsra_Zy" alt="空白世界地圖"></div>

**2) 在 TurtleBot3 World 世界地圖**

TurtleBot3 world 世界地圖，是由一些構成 TurtleBot3 符號外形的簡單物件所組成的地圖。TurtleBot3 world 世界地圖主要用於 SLAM 和 Navigation 導航等測試用。

```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
```

<div align="left"><img src="/files/-Ll0JCD-itU4ZtARLm4b" alt="Burger 漢堡世界地圖"></div>

<div align="left"><img src="/files/-Ll0JG1fVap2HteX24j-" alt="Waffle 鬆餅世界地圖"></div>

**3) TurtleBot3 House 房間地圖**&#x20;

TurtleBot3 House 房間地圖是一張用房屋圖紙製作的地圖。它適用於測試相對比較複雜任務的效能。

```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
```

{% hint style="info" %}
備註: 如果首次執行 TurtleBot3 House，則下載地圖文件需要幾分鐘或更長時間，具體取決於下載速度。
{% endhint %}

<div align="left"><img src="/files/-Ll0Kd5wtAlJ29VysF37" alt=""></div>

<div align="left"><img src="/files/-Ll0KhOQa54v69iHFvRY" alt=""></div>


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