diff --git a/src/sim/launch/zylinder.launch b/src/sim/launch/zylinder.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a65e959b96e780a74a5e3a291fdcf1a08c2e7456
--- /dev/null
+++ b/src/sim/launch/zylinder.launch
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="-1.035058"/>
+  <arg name="y_pos" default="-1.035058"/>
+  <arg name="z_pos" default="-0.001001"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/zylinder.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+</launch>