# Open-source Gazebo Harmonic world collection adds 42 simulation environments

> **Key takeaway:** A developer released 42 Apache 2.0-licensed Gazebo Harmonic simulation worlds for robotics navigation, exploration, and SLAM testing.

**Published:** 2026-10-18T23:33:59+00:00 
**Source:** ROS Robot Operating System News 
**Category:** robotics-science 
**Canonical URL:** https://fosswire.org/news/open-source-gazebo-harmonic-world-collection-adds-42-simulat.html 

## Summary
Mert Güler released world-collection, a set of 42 2D plan-based simulation environments for Gazebo Harmonic. The collection includes mazes, offices, warehouses, forests, real-world place replicas, moving obstacle scenarios, and challenge-oriented worlds. It is intended for testing and benchmarking navigation, exploration, LiDAR, and robot model setups in ROS-based projects.

## What the world collection includes
- 42 individual Gazebo Harmonic world files in a single repository
- Environment types: mazes, offices, warehouses, forests, real-world place replicas, moving obstacle worlds, challenge-oriented layouts
- 2D plan-based construction with simple objects
- Primary use cases: navigation, exploration algorithms, SLAM workflows, LiDAR sensor validation, robot model setup verification
- Apache 2.0 license
- Repository: mertgulerx/world-collection on GitHub

## Why it matters
The collection addresses a recurring need in the ROS community for standardized, varied simulation environments to compare navigation and SLAM algorithms reproducibly. Having ready-made Apache 2.0 worlds reduces setup friction for researchers and students working with Gazebo Harmonic and ROS 2.