# 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.
For the full list of build targets run
make px4_sitl list_vmd_make_targets (and filter on those that start with
The Gazebo page shows how to install Gazebo, how to enable video and load custom maps, and many other configuration options.
# 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
# Typhoon H480 (Hexrotor)
make px4_sitl gazebo_typhoon_h480
This target also supports video streaming simulation.
# Plane/Fixed Wing
# Standard Plane
make px4_sitl gazebo_plane
# 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.
# Standard VTOL
make px4_sitl gazebo_standard_vtol
# Tailsitter VTOL
make px4_sitl gazebo_tailsitter
# Unmmanned Ground Vehicle (UGV/Rover/Car)
# Ackermann UGV
make px4_sitl gazebo_rover
# Differential UGV
make px4_sitl gazebo_r1_rover
# Unmanned Underwater Vehicle (UUV/Submarine)
# HippoCampus TUHH UUV
make px4_sitl gazebo_uuv_hippocampus
# Unmanned Surface Vehicle (USV/Boat)
make px4_sitl gazebo_boat
make px4_sitl gazebo_cloudship