This is a Gazebo world built by Wenbo Zhao from CERLAB to simulate under-construction-tunnel environment. The world is designed to simulate UAV SLAM and planning algorithms. Part of the models are downloaded and modified from 3D Warehouse.
Before opening tunnel_world.sdf file in Gazebo, the models need to be imported to Gazebo model directory.
Command for adding the path to Gazebo model directory:
export GAZEBO_MODEL_PATH=$PATH:path/to/the/world/tunnel_models
Then run:
gazebo path/to/the/world/tunnel_world.sdf
