# Gazebo Classic Vehicles

This topic lists/displays the vehicles supported by the PX4 Gazebo Classic simulation and the make commands required to run them (the commands are run from a terminal in the PX4-Autopilot directory).

Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV.


The Gazebo Classic page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options.

# Multicopter

# Quadrotor (Default)

make px4_sitl gazebo-classic

# Quadrotor with Optical Flow

make px4_sitl gazebo-classic_iris_opt_flow

# Quadrotor with Depth Camera

These models have a depth camera attached, modelled on the Intel® RealSense™ D455.

Forward-facing depth camera:

make px4_sitl gazebo-classic_iris_depth_camera

Downward-facing depth camera:

make px4_sitl gazebo-classic_iris_downward_depth_camera

# 3DR Solo (Quadrotor)

make px4_sitl gazebo-classic_solo

3DR Solo in Gazebo Classic

# Typhoon H480 (Hexrotor)

make px4_sitl gazebo-classic_typhoon_h480

Typhoon H480 in Gazebo Classic


This target also supports video streaming simulation.

# Plane/Fixed-wing

# Standard Plane

make px4_sitl gazebo-classic_plane

Plane in Gazebo Classic

# Standard Plane with Catapult Launch

make px4_sitl gazebo-classic_plane_catapult

This model simulates hand/catapult launch, which can be used for fixed-wing takeoff in position mode, takeoff mode, or missions.

The plane will automatically be launched as soon as the vehicle is armed.


# Standard VTOL

make px4_sitl gazebo-classic_standard_vtol

Standard VTOL in Gazebo Classic

# Tailsitter VTOL

make px4_sitl gazebo-classic_tailsitter

Tailsitter VTOL in Gazebo Classic

# Unmmanned Ground Vehicle (UGV/Rover/Car)

# Ackermann UGV

make px4_sitl gazebo-classic_rover

Rover in Gazebo Classic

# Differential UGV

make px4_sitl gazebo-classic_r1_rover

Rover in Gazebo Classic

# Unmanned Underwater Vehicle (UUV/Submarine)

# HippoCampus TUHH UUV

make px4_sitl gazebo-classic_uuv_hippocampus


# Unmanned Surface Vehicle (USV/Boat)

# Boat (USV)

make px4_sitl gazebo-classic_boat


# Airship

# Cloudship

make px4_sitl gazebo-classic_cloudship