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

make px4_sitl gz_x500

X500 Quadrotor with Visual Odometry

make px4_sitl gz_x500_vision

X500 Quadrotor with Depth Camera (Front-facing)

This model has a forward-facting depth camera attached, modelled on the OAK-D.

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).

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 Monocular Camera (Down-facing)

This model has a simple monocular camera sensor attached facing down (there is no physical camera visualization on the model itself).

This can be used with the Aruco world to test precision landing.

make px4_sitl gz_x500_mono_cam_down

X500 Quadrotor with 1D LIDAR (Down-facing)

This model has a LIDAR attached to the bottom, modelled on the Lightware LW20/C.

It has a range between 0.1 and 100m.

The model can be used for testing rangefinder use cases like landing or terrain following.

make px4_sitl gz_x500_lidar_front

X500 Quadrotor with 1D LIDAR (Front-facing)

This model has a LIDAR attached to the front, modelled on the Lightware LW20/C.

It has a range between 0.2 and 100m.

The model can be used for testing Collision Prevention.

make px4_sitl gz_x500_lidar_front

X500 Quadrotor with 2D LIDAR

This model has 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.

make px4_sitl gz_x500_lidar_2d

INFO

The sensor information is written to the ObstacleDistance UORB message used by collision prevention.

X500 Quadrotor with Gimbal (Front-facing)

This model has a gimbal attached to the front with angular ranges of

• roll: [- $\frac{\pi }{4}$, $\frac{\pi }{4}$]
• pitch: [- $frac3\pi 4$, $\frac{\pi }{4}$]
• yaw: infinite rotation

The gimbal joints uses position control with a kinematic chain ZXY.

.

make px4_sitl gz_x500_gimbal

Plane/Fixed-wing

Standard Plane

make px4_sitl gz_rc_cessna

Advanced Plane

PX4 v1.15

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

make px4_sitl gz_standard_vtol

Rover

Differential Rover

Differential Rover uses the rover world by default.

make px4_sitl gz_r1_rover

Ackermann Rover

Ackermann Rover uses the rover world by default.

make px4_sitl gz_rover_ackermann