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[Note : I use ROS Indigo,Ubuntu 14.04] I had this problem too. I had tried Joelf's answer in my Indigo but the error info still exists which always said that it can not find the "maze.world" and "maze.yaml" even if I had put them into right directory.Thanks a lot for Joelf's answer which has inspired me. http://answers.ros.org/users/23722/joelf/

I found an easier way that may help. Just look at this directory:

/opt/ros/indigo/share/turtlebot_stage/maps/

(Open the contents of the file system and you will found this folder)

You will find several map files including "maze.yaml" and a folder: "stage", in which there are 3 files including "maze.world".(Sorry but there must be something wrong with my image uploader)

Then set environment variables in terminal:

export TURTLEBOT_STAGE_WORLD_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/stage/maze.world"
export TURTLEBOT_STAGE_MAP_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/maze.yaml"

Then launch:

roslaunch turtlebot_stage turtlebot_in_stage.launch

Note: If there are still some errors, remember to update your source list and use sudo apt-get update,then install the package sudo apt-get install ros-indigo-turtlebot-rviz-launchers,just guarantee your packages are the newest. By the way, I had used Ubuntu 12 before but there are something wrong with the source list even after sudo update, I can not run the turtlebot, the same error. After I update to Ubuntu 14.04, everything is OK.