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the pr2 launch script does not use an argument world_name. If you want to use a launch script you have to write it yourself or use the ones that are shipped with the gazebo packages.

If you use gazebo_ros to spawn your world it could look like this:

     <param name="/use_sim_time" value="true" />
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="world_name" value="$(find your_package)/"/>