This topic provides imagery/information about the Gazebo worlds supported by PX4.
The source code for supported worlds can be found on GitHub here: PX4/sitl_gazebo/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](https://github.com/PX4/sitl_gazebo/blob/master/worlds/iris_irlock.world): Includes a IR beacon for testing (precision landing.