# Gazebo Worlds

This topic provides imagery/information about the Gazebo worlds supported by PX4.

The empty.world is spawned by default, though this may be overridden by a model specific world. Developers can also manually specify the world to load: Gazebo Simulation > Loading a Specific World.

The source code for supported worlds can be found on GitHub here: PX4/sitl_gazebo/worlds (opens new window).

# Empty (Default)

PX4/sitl_gazebo/worlds/empty.world (opens new window)


# Baylands

PX4/sitl_gazebo/worlds/baylands.world (opens new window)

Baylands World

# KSQL Airport

PX4/sitl_gazebo/worlds/ksql_airport.world (opens new window)

KSQL Airport World

# McMillan Airfield

PX4/sitl_gazebo/worlds/mcmillan_airfield.world (opens new window)

McMillan Airfield World

# Sonoma Raceway

PX4/sitl_gazebo/worlds/sonoma_raceway.world (opens new window) Sonoma_Raceway

# Warehouse

PX4/sitl_gazebo/worlds/warehouse.world (opens new window)


# Yosemite

PX4/sitl_gazebo/worlds/yosemite.world (opens new window)


# Model Specific Worlds

Some vehicle models rely on the physics / plugins of a specific world. The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the default empty.world):

The model specific worlds are: