Gazebo Worlds

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

The source code for supported worlds can be found on GitHub here: PX4/sitl_gazebo/worlds.

Empty (Default)

PX4/sitl_gazebo/worlds/empty.world

empty

Baylands

PX4/sitl_gazebo/worlds/baylands.world

Baylands World

KSQL Airport

PX4/sitl_gazebo/worlds/ksql_airport.world

KSQL Airport World

McMillan Airfield

PX4/sitl_gazebo/worlds/mcmillan_airfield.world

McMillan Airfield World

Sonoma Raceway

PX4/sitl_gazebo/worlds/sonoma_raceway.world Sonoma_Raceway

Warehouse

PX4/sitl_gazebo/worlds/warehouse.world

Warehouse

Yosemite

PX4/sitl_gazebo/worlds/yosemite.world

Yosemite

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:

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