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You can simply write this on your terminal before you do roslaunch

$ export TURTLEBOT3_MODEL=waffle_pi

You can simply write this on your terminal before you do roslaunch

$ export TURTLEBOT3_MODEL=waffle_pi
TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

More can be found here

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