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.

Note

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

Typhoon H480 (Hexrotor)

make px4_sitl gazebo-classic_typhoon_h480

Note

This target also supports video streaming simulation.

Plane/Fixed-wing

Standard Plane

make px4_sitl gazebo-classic_plane

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.

VTOL

Standard VTOL

make px4_sitl gazebo-classic_standard_vtol

Tailsitter VTOL

make px4_sitl gazebo-classic_tailsitter

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackermann UGV

make px4_sitl gazebo-classic_rover

Differential UGV

make px4_sitl gazebo-classic_r1_rover

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo-classic_uuv_hippocampus

Unmanned Surface Vehicle (USV/Boat)

Boat

make px4_sitl gazebo-classic_boat

Airship

Cloudship

make px4_sitl gazebo-classic_cloudship