Gazebo Vehicles
This topic lists/displays the vehicles supported by the PX4 Gazebo simulation, and the make
commands required to run them (the commands are run from a terminal in the PX4-Autopilot directory).
The models are included in PX4 as a submodule that is fetched from the Gazebo Models Repository.
Supported vehicle types include: mutirotor, VTOL, Plane, Rover.
WARNING
See Gazebo Classic Vehicles for vehicles that work with the older Gazebo "Classic" simulation. Note that vehicle models are not interchangable between the two versions of the simulator: the vehicles on this page only work with (new) Gazebo.
Multicopter
X500 Quadrotor
sh
make px4_sitl gz_x500
X500 Quadrotor with Visual Odometry
sh
make px4_sitl gz_x500_vision
X500 Quadrotor with Depth Camera
These models have a depth camera attached, modelled on the OAK-D.
Forward-facing depth camera:
sh
make px4_sitl gz_x500_depth
X500 Quadrotor with Monocular Camera
This model has a simple monocular camera sensor attached (there is no physical camera visualization on the model itself).
sh
make px4_sitl gz_x500_mono_cam
INFO
The camera cannot yet be used to stream video or for image capture in QGroundControl. PX4-Autopilot#22563 can be used to track the additional work needed to fully enable these use cases.
X500 Quadrotor with 2D LIDAR
This model have a 2D LIDAR attached, modelled on the Hokuyo UTM-30LX. It has a range between 0.1 and 30m, and scans in a 270° arc. The model can be used for testing Collision Prevention.
sh
make px4_sitl gz_x500_lidar
INFO
The model cannot be used for testing normal rangefinder use cases, such as terrain following, as the information is not written to the DistanceSensor topic (it is written to the ObstacleDistance UORB message used by collision prevention).
Plane/Fixed-wing
Standard Plane
sh
make px4_sitl gz_rc_cessna
Advanced Plane
PX4 v1.15sh
make px4_sitl gz_advanced_plane
INFO
The difference between the Advanced Plane and the "regular plane" lies in the Lift Physics that the two models use:
- You can configure the Advanced Lift Drag plugin used by the model to more closely match a particular vehicle using the Advanced Lift Drag Tool.
- For more detail on the lift calculations for the Advanced Plane, see PX4-SITL_gazebo-classic/src/liftdrag_plugin/index.md
VTOL
Standard VTOL
sh
make px4_sitl gz_standard_vtol
Rover
Differential Rover
sh
make px4_sitl gz_r1_rover
Ackermann Rover
sh
make px4_sitl gz_rover_ackermann