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/tree/main/worlds.
Empty (Default)
PX4/PX4-SITL_gazebo/tree/main/worlds/empty.world
Baylands
PX4/PX4-SITL_gazebo/tree/main/worlds/baylands.world
KSQL Airport
PX4/PX4-SITL_gazebo/tree/main/worlds/ksql_airport.world
McMillan Airfield
PX4/PX4-SITL_gazebo/tree/main/worlds/mcmillan_airfield.world
Safe Landing
PX4/PX4-SITL_gazebo/tree/main/worlds/safe_landing.world
Sonoma Raceway
Warehouse
PX4/PX4-SITL_gazebo/tree/main/worlds/warehouse.world
Yosemite
PX4/PX4-SITL_gazebo/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.
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