Gazebo Classic Worlds

This topic provides imagery/information about the Gazebo Classic 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 Classic > Loading a Specific World.

The source code for supported worlds can be found on GitHub here: PX4/PX4-SITL_gazebo-classic/tree/main/worlds.

Empty (Default)

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/empty.world

Baylands

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/baylands.world

KSQL Airport

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/ksql_airport.world

McMillan Airfield

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/mcmillan_airfield.world

Safe Landing

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/safe_landing.world

Sonoma Raceway

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/sonoma_raceway.world

Warehouse

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/warehouse.world

Yosemite

PX4/PX4-SITL_gazebo-classic/tree/main/worlds/yosemite.world

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:

• boat.world: Includes a surface to simulate buoyancy of the boat.
• uuv_hippocampus.world: An empty world used to simulate an underwater environment for the HippoCampus UUV.
• typhoon_h480.world: Used by Typhoon H480 (Hexrotor) vehicle model and includes a video widget to enable / disable video streaming. The world includes a gazebo plugin for a simulated camera.
• iris_irlock.world: Includes a IR beacon for testing precision landing.