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 Firmware directory).

Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV.

For the full list of build targets run make px4_sitl list_vmd_make_targets (and filter on those that start with gazebo_).

The Gazebo page shows how to install Gazebo, how to enable video and load custom maps, and many other configuration options.


Quadrotor (Default)

make px4_sitl gazebo

Quadrotor with Optical Flow

make px4_sitl gazebo_iris_opt_flow

3DR Solo (Quadrotor)

make px4_sitl gazebo_solo

3DR Solo in Gazebo

Typhoon H480 (Hexrotor)

make px4_sitl gazebo_typhoon_h480

Typhoon H480 in Gazebo

This target also supports video streaming simulation.

Plane/Fixed Wing

Standard Plane

make px4_sitl gazebo_plane

Plane in Gazebo


Standard VTOL

make px4_sitl gazebo_standard_vtol

Standard VTOL in Gazebo

Tailsitter VTOL

make px4_sitl gazebo_tailsitter

Tailsitter VTOL in Gazebo

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackerman UGV

make px4_sitl gazebo_rover

Rover in Gazebo

Differential UGV

make px4_sitl gazebo_r1_rover

Rover in Gazebo

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus


Unmanned Surface Vehicle (USV/Boat)


make px4_sitl gazebo_boat


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