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

3DR Solo in Gazebo Classic

Typhoon H480 (Hexrotor)

make px4_sitl gazebo-classic_typhoon_h480

Typhoon H480 in Gazebo Classic

:::note This target also supports video streaming simulation. :::

Plane/Fixed Wing

Standard Plane

make px4_sitl gazebo-classic_plane

Plane in Gazebo Classic

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

Standard VTOL in Gazebo Classic

Tailsitter VTOL

make px4_sitl gazebo-classic_tailsitter

Tailsitter VTOL in Gazebo Classic

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackermann UGV

make px4_sitl gazebo-classic_rover

Rover in Gazebo Classic

Differential UGV

make px4_sitl gazebo-classic_r1_rover

Rover in Gazebo Classic

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo-classic_uuv_hippocampus

Submarine/UUV

Unmanned Surface Vehicle (USV/Boat)

Boat

make px4_sitl gazebo-classic_boat

Boat/USV

Airship

Cloudship

make px4_sitl gazebo-classic_cloudship

Airship