# 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).

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

TIP

For the full list of build targets run make px4_sitl list_vmd_make_targets (and filter on those that start with gazebo_).

Note

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

# Multicopter

# Quadrotor (Default)

make px4_sitl gazebo

# Quadrotor with Optical Flow

make px4_sitl gazebo_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_iris_depth_camera

Downward-facing depth camera:

make px4_sitl gazebo_iris_downward_depth_camera

# 3DR Solo (Quadrotor)

make px4_sitl gazebo_solo

3DR Solo in Gazebo

# Typhoon H480 (Hexrotor)

make px4_sitl gazebo_typhoon_h480

Typhoon H480 in Gazebo

Note

This target also supports video streaming simulation.

# Plane/Fixed Wing

# Standard Plane

make px4_sitl gazebo_plane

Plane in Gazebo

# Standard Plane with Catapult Launch

make px4_sitl gazebo_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.

# VTOL

# Standard VTOL

make px4_sitl gazebo_standard_vtol

Standard VTOL in Gazebo

# Tailsitter VTOL

make px4_sitl gazebo_tailsitter

Tailsitter VTOL in Gazebo

# Unmmanned Ground Vehicle (UGV/Rover/Car)

# Ackermann UGV

make px4_sitl gazebo_rover

Rover in Gazebo

# Differential UGV

make px4_sitl gazebo_r1_rover

Rover in Gazebo

# Unmanned Underwater Vehicle (UUV/Submarine)

# HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus

Submarine/UUV

# Unmanned Surface Vehicle (USV/Boat)

# Boat

make px4_sitl gazebo_boat

Boat/USV

# Airship

# Cloudship

make px4_sitl gazebo_cloudship

Airship