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You can use the same launch file as for turtlebot_empty_world.launch. You should copy the launch file to a package you've created (any package will do). Then change the line

<arg name="world_name" value="$(find turtlebot_gazebo)/worlds/empty.world"/>

to

<arg name="world_name" value="worlds/willowgarage.world"/>

I just tested it and it works fine on my computer. Good luck!

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