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.

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

These models have a depth camera attached, modelled on the OAK-D.

Forward-facing depth camera:

make px4_sitl gz_x500_depth

X500 Quadrotor with Monocular Camera

This models 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.

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