diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
index f90cf09690..7e95b1fff0 100644
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@@ -59,13 +59,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings
diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml
index 8cd707f0e0..812f63fec4 100644
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@@ -54,13 +54,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings
diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index 9ba892d2cc..3282c797c5 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -74,14 +74,14 @@ jobs:
     - name: Build SITL Gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
       run: ccache -s
     - name: Build MAVSDK tests
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
     - name: ccache post-run mavsdk_tests
       run: ccache -s
 
diff --git a/.gitmodules b/.gitmodules
index a8e90fddc2..78c67073e1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
+	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index f8756d573b..7e04d089b0 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -67,9 +67,9 @@
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "gazebo build",
+            "label": "gazebo-classic build",
             "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
+            "command": "make px4_sitl_default sitl_gazebo-classic",
             "options": {
                 "cwd": "${workspaceFolder}"
             },
@@ -86,18 +86,18 @@
             "problemMatcher": [],
         },
         {
-            "label": "gazebo start",
+            "label": "gazebo-classic start",
             "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo-classic build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -128,18 +128,18 @@
             ]
         },
         {
-            "label": "gazebo",
+            "label": "gazebo-classic",
             "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo-classic start",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
@@ -194,7 +194,7 @@
             "dependsOn":["ign gazebo kill"]
         },
         {
-            "label": "gazebo kill",
+            "label": "gazebo-classic kill",
             "type": "shell",
             "command": "pkill -9 -f gzserver || true",
             "presentation": {
diff --git a/Makefile b/Makefile
index b33d48514a..c067ce8a52 100644
--- a/Makefile
+++ b/Makefile
@@ -388,17 +388,17 @@ tests_coverage:
 
 
 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 
 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -408,13 +408,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
@@ -489,7 +489,7 @@ validate_module_configs:
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean submodulesupdate distclean
 
 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -507,10 +507,7 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: gazeboclean
+distclean:
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat
rename to ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship
rename to ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480.post
similarity index 100%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post
rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index e9e1e436cc..7e682b0011 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -33,39 +33,39 @@
 
 px4_add_romfs_files(
 
-	1010_gazebo_iris_opt_flow
-	1010_gazebo_iris_opt_flow.post
-	1011_gazebo_iris_irlock
-	1012_gazebo_iris_rplidar
-	1013_gazebo_iris_vision
-	1013_gazebo_iris_vision.post
-	1015_gazebo_iris_obs_avoid
-	1015_gazebo_iris_obs_avoid.post
-	1017_gazebo_iris_opt_flow_mockup
-	1019_gazebo_iris_dual_gps
-	1021_gazebo_uuv_hippocampus
-	1022_gazebo_uuv_bluerov2_heavy
-	1030_gazebo_plane
-	1031_gazebo_plane_cam
-	1032_gazebo_plane_catapult
+	1010_gazebo-classic_iris_opt_flow
+	1010_gazebo-classic_iris_opt_flow.post
+	1011_gazebo-classic_iris_irlock
+	1012_gazebo-classic_iris_rplidar
+	1013_gazebo-classic_iris_vision
+	1013_gazebo-classic_iris_vision.post
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
+	1017_gazebo-classic_iris_opt_flow_mockup
+	1019_gazebo-classic_iris_dual_gps
+	1021_gazebo-classic_uuv_hippocampus
+	1022_gazebo-classic_uuv_bluerov2_heavy
+	1030_gazebo-classic_plane
+	1031_gazebo-classic_plane_cam
+	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_gazebo_techpod
+	1035_gazebo-classic_techpod
 	1036_jsbsim_malolo
-	1037_gazebo_believer
-	1038_gazebo_glider
-	1039_gazebo_advanced_plane
-	1040_gazebo_standard_vtol
-	1041_gazebo_tailsitter
-	1042_gazebo_tiltrotor
-	1043_gazebo_standard_vtol_drop
-	1044_gazebo_plane_lidar
-	1060_gazebo_rover
-	1061_gazebo_r1_rover
+	1037_gazebo-classic_believer
+	1038_gazebo-classic_glider
+	1039_gazebo-classic_advanced_plane
+	1040_gazebo-classic_standard_vtol
+	1041_gazebo-classic_tailsitter
+	1042_gazebo-classic_tiltrotor
+	1043_gazebo-classic_standard_vtol_drop
+	1044_gazebo-classic_plane_lidar
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
-	1070_gazebo_boat
+	1070_gazebo-classic_boat
 
-	2507_gazebo_cloudship
+	2507_gazebo-classic_cloudship
 
 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x
@@ -73,14 +73,14 @@ px4_add_romfs_files(
 	4001_gz_x500
 	4002_gz_x500_depth
 
-	6011_gazebo_typhoon_h480
-	6011_gazebo_typhoon_h480.post
+	6011_gazebo-classic_typhoon_h480
+	6011_gazebo-classic_typhoon_h480.post
 
-	10016_gazebo_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
-	10018_gazebo_iris_foggy_lidar
-	10019_gazebo_omnicopter
-	10030_gazebo_px4vision
+	10018_gazebo-classic_iris_foggy_lidar
+	10019_gazebo-classic_omnicopter
+	10030_gazebo-classic_px4vision
 
 	10040_sihsim_quadx
 	10041_sihsim_airplane
diff --git a/Tools/simulation/gazebo/setup_gazebo.bash b/Tools/simulation/gazebo-classic/setup_gazebo.bash
similarity index 91%
rename from Tools/simulation/gazebo/setup_gazebo.bash
rename to Tools/simulation/gazebo-classic/setup_gazebo.bash
index 1663fef779..7829c929c6 100755
--- a/Tools/simulation/gazebo/setup_gazebo.bash
+++ b/Tools/simulation/gazebo-classic/setup_gazebo.bash
@@ -16,9 +16,9 @@ SRC_DIR=$1
 BUILD_DIR=$2
 
 # setup Gazebo env and update package path
-export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
 
 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
diff --git a/Tools/simulation/gazebo/sitl_gazebo b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
similarity index 100%
rename from Tools/simulation/gazebo/sitl_gazebo
rename to Tools/simulation/gazebo-classic/sitl_gazebo-classic
diff --git a/Tools/simulation/gazebo/sitl_multiple_run.sh b/Tools/simulation/gazebo-classic/sitl_multiple_run.sh
similarity index 77%
rename from Tools/simulation/gazebo/sitl_multiple_run.sh
rename to Tools/simulation/gazebo-classic/sitl_multiple_run.sh
index 4148e851b2..1d8cdbf8bc 100755
--- a/Tools/simulation/gazebo/sitl_multiple_run.sh
+++ b/Tools/simulation/gazebo-classic/sitl_multiple_run.sh
@@ -1,10 +1,10 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
 
 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
-#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
 
 function cleanup() {
 	pkill -x px4
@@ -35,7 +35,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=gazebo_${vehicle_model}
+export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true
 
 sleep 1
 
-source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
 
 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi
 
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
 sleep 5
 
 n=0
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=gazebo_${target_vehicle}
+			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
diff --git a/Tools/simulation/gazebo/sitl_run.sh b/Tools/simulation/gazebo-classic/sitl_run.sh
similarity index 83%
rename from Tools/simulation/gazebo/sitl_run.sh
rename to Tools/simulation/gazebo-classic/sitl_run.sh
index def7ac462f..741d064dd6 100755
--- a/Tools/simulation/gazebo/sitl_run.sh
+++ b/Tools/simulation/gazebo-classic/sitl_run.sh
@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=gazebo_${model}
+export PX4_SIM_MODEL=gazebo-classic_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
 	model_name="${model}"
 
 	# Set the plugin path so Gazebo finds our model and sim
-	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
+	source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
 	if [ -z $PX4_SITL_WORLD ]; then
 		#Spawn predefined world
 		if [ "$world" == "none" ]; then
-			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
 				echo "empty world, default world ${model}.world for model found"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
 			else
 				echo "empty world, setting empty.world as default"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
 			fi
 		else
 			#Spawn empty world if world with model name doesn't exist
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
 		fi
 	else
-		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+		if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
 			# Spawn world by name if exists in the worlds directory from environment variable
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
 		else
 			# Spawn world from environment variable with absolute path
 			world_path="$PX4_SITL_WORLD"
diff --git a/Tools/simulation/sitl_multiple_run.sh b/Tools/simulation/sitl_multiple_run.sh
index 22b92bfbb1..207ee57664 100755
--- a/Tools/simulation/sitl_multiple_run.sh
+++ b/Tools/simulation/sitl_multiple_run.sh
@@ -19,7 +19,7 @@ pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=gazebo_iris
+export PX4_SIM_MODEL=gazebo-classic_iris
 
 n=0
 while [ $n -lt $sitl_num ]; do
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 127364fd1e..25afb71c4e 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -14,7 +14,7 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
 
     <!-- gazebo configs -->
     <arg name="gui" default="true"/>
diff --git a/launch/px4.launch b/launch/px4.launch
index dc29942fa9..2947980420 100644
--- a/launch/px4.launch
+++ b/launch/px4.launch
@@ -9,7 +9,7 @@
     <arg name="ID" default="0"/>
     <arg name="interactive" default="true"/>
 
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
     <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index beb9dcde24..57668e101d 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -13,7 +13,7 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <arg name="gst_udp_port" default="5600"/>
diff --git a/launch/single_vehicle_spawn_sdf.launch b/launch/single_vehicle_spawn_sdf.launch
index e96f8270fa..7b3a74bb7c 100644
--- a/launch/single_vehicle_spawn_sdf.launch
+++ b/launch/single_vehicle_spawn_sdf.launch
@@ -13,13 +13,13 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="plane"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <!-- PX4 configs -->
     <arg name="interactive" default="true"/>
     <!-- generate sdf vehicle model -->
-    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/simulation/gazebo/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/$(arg vehicle)/$(arg vehicle).sdf"/>
     <param command="$(arg cmd)" name="model_description"/>
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index c65cfbac79..5aaa82c32c 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -168,7 +168,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# px4 Tools files
 	install(
 		PROGRAMS
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/setup_gazebo.bash
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash
 			${PROJECT_SOURCE_DIR}/Tools/upload_log.py
 		DESTINATION
 			${PROJECT_NAME}/Tools
@@ -182,10 +182,10 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 			${PROJECT_NAME}/build/px4_sitl_default
 		)
 
-	# sitl_gazebo built plugins
+	# sitl_gazebo-classic built plugins
 	install(
 		DIRECTORY
-			${PX4_BINARY_DIR}/build_gazebo
+			${PX4_BINARY_DIR}/build_gazebo-classic
 		DESTINATION
 			${PROJECT_NAME}/build/px4_sitl_default
 		FILES_MATCHING
@@ -193,22 +193,22 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 			PATTERN "*.so"
 		)
 
-	# sitl_gazebo dirs
+	# sitl_gazebo-classic dirs
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/worlds
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds
 		DESTINATION
-			${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo
+			${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 		)
 
-	# sitl_gazebo files
+	# sitl_gazebo-classic files
 	install(
 		FILES
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/CMakeLists.txt
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/package.xml
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/package.xml
 		DESTINATION
-			${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo
+			${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 		)
 
 endif()
diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in
index 1cd0fa6cdb..56c295fb69 100644
--- a/platforms/posix/Debug/launch_sitl.json.in
+++ b/platforms/posix/Debug/launch_sitl.json.in
@@ -99,12 +99,12 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "gazebo_iris"
+                    "value": "gazebo-classic_iris"
                 }
             ],
             "externalConsole": false,
-            "preLaunchTask": "gazebo",
-            "postDebugTask": "gazebo kill",
+            "preLaunchTask": "gazebo-classic",
+            "postDebugTask": "gazebo-classic kill",
             "linux": {
                 "MIMode": "gdb",
                 "externalConsole": false,
diff --git a/src/modules/simulation/simulator_mavlink/CMakeLists.txt b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
index f1dfaedfef..fecb207042 100644
--- a/src/modules/simulation/simulator_mavlink/CMakeLists.txt
+++ b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
@@ -56,6 +56,6 @@ px4_add_module(
 	)
 
 include(sitl_targets_flightgear.cmake)
-include(sitl_targets_gazebo.cmake)
+include(sitl_targets_gazebo-classic.cmake)
 include(sitl_targets_jmavsim.cmake)
 include(sitl_targets_jsbsim.cmake)
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
similarity index 50%
rename from src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
rename to src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
index ee765e34ac..2aae2343f9 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
@@ -3,7 +3,7 @@ find_package(gazebo)
 
 if(gazebo_FOUND)
 
-	message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and targets")
+	message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and gazebo-classic targets")
 
 	# Estimate an appropriate number of parallel jobs
 	cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
@@ -40,17 +40,17 @@ if(gazebo_FOUND)
 	# 		Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
 
 	# project to build sitl_gazebo if necessary
-	px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
+	px4_add_git_submodule(TARGET git_sitl_gazebo-classic PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic")
 	include(ExternalProject)
-	ExternalProject_Add(sitl_gazebo
-		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo
+	ExternalProject_Add(sitl_gazebo-classic
+		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 		CMAKE_ARGS
 			-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 			-DSEND_ODOMETRY_DATA=ON
 			-DGENERATE_ROS_MODELS=ON
-		BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
+		BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo-classic
 		INSTALL_COMMAND ""
-		DEPENDS git_gazebo
+		DEPENDS git_sitl_gazebo-classic
 		USES_TERMINAL_CONFIGURE true
 		USES_TERMINAL_BUILD true
 		EXCLUDE_FROM_ALL true
@@ -114,34 +114,34 @@ if(gazebo_FOUND)
 	)
 
 	# find corresponding airframes
-	file(GLOB gazebo_airframes
-	RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-	${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
+	file(GLOB gazebo-classic_airframes
+		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo-classic_*
 	)
 
 	# remove any .post files
-	foreach(gazebo_airframe IN LISTS gazebo_airframes)
-		if(gazebo_airframe MATCHES ".post")
-			list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
+	foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
+		if(gazebo-classic_airframe MATCHES ".post")
+			list(REMOVE_ITEM gazebo-classic_airframes ${gazebo-classic_airframe})
 		endif()
 	endforeach()
-	list(REMOVE_DUPLICATES gazebo_airframes)
+	list(REMOVE_DUPLICATES gazebo-classic_airframes)
 
-	foreach(gazebo_airframe IN LISTS gazebo_airframes)
+	foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
 		set(model_only)
-		string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
+		string(REGEX REPLACE ".*_gazebo-classic_" "" model_only ${gazebo-classic_airframe})
 
-		if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
+		if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}")
 
-			if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
-			OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
+			if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf")
+			OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf.jinja"))
 				#message(STATUS "SDF file found for ${model_only}")
 			else()
 				message(WARNING "No SDF file found for ${model_only}")
 			endif()
 
 		else()
-			message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
+			message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only} not found")
 		endif()
 	endforeach()
 
@@ -151,73 +151,90 @@ if(gazebo_FOUND)
 			# match model to airframe
 			set(airframe_model_only)
 			set(airframe_sys_autostart)
-			set(gazebo_airframe_found)
-			foreach(gazebo_airframe IN LISTS gazebo_airframes)
+			set(gazebo-classic_airframe_found)
+			foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
 
-				string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
-				string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
+				string(REGEX REPLACE ".*_gazebo-classic_" "" airframe_model_only ${gazebo-classic_airframe})
+				string(REGEX REPLACE "_gazebo-classic_.*" "" airframe_sys_autostart ${gazebo-classic_airframe})
 
 				if(model STREQUAL ${airframe_model_only})
-					set(gazebo_airframe_found ${gazebo_airframe})
+					set(gazebo-classic_airframe_found ${gazebo-classic_airframe})
 					break()
 				endif()
 			endforeach()
 
-			if(gazebo_airframe_found)
-				#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			if(gazebo-classic_airframe_found)
+				#message(STATUS "gazebo-classic model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
 			else()
-				message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+				message(WARNING "gazebo-classic missing model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
 			endif()
 
 			foreach(world ${worlds})
 				if(world STREQUAL "none")
 					if(debugger STREQUAL "none")
 						if(model STREQUAL "none")
-							set(_targ_name "gazebo")
+							set(_targ_name "gazebo-classic")
 						else()
-							set(_targ_name "gazebo_${model}")
+							set(_targ_name "gazebo-classic_${model}")
 						endif()
 					else()
 						if(model STREQUAL "none")
-							set(_targ_name "gazebo___${debugger}")
+							set(_targ_name "gazebo-classic___${debugger}")
 						else()
-							set(_targ_name "gazebo_${model}_${debugger}")
+							set(_targ_name "gazebo-classic_${model}_${debugger}")
 						endif()
 					endif()
 
 					add_custom_target(${_targ_name}
-						COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+						COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 						WORKING_DIRECTORY ${SITL_WORKING_DIR}
 						USES_TERMINAL
-						DEPENDS px4 sitl_gazebo
+						DEPENDS px4 sitl_gazebo-classic
+					)
+
+					string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name})
+					add_custom_target(${_targ_name_compat}
+						COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}"
+						COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name}
+						USES_TERMINAL
+						VERBATIM
 					)
 				else()
 					if(debugger STREQUAL "none")
 						if(model STREQUAL "none")
-							set(_targ_name "gazebo___${world}")
+							set(_targ_name "gazebo-classic___${world}")
 						else()
-							set(_targ_name "gazebo_${model}__${world}")
+							set(_targ_name "gazebo-classic_${model}__${world}")
 						endif()
 					else()
 						if(model STREQUAL "none")
-							set(_targ_name "gazebo__${debugger}_${world}")
+							set(_targ_name "gazebo-classic__${debugger}_${world}")
 						else()
-							set(_targ_name "gazebo_${model}_${debugger}_${world}")
+							set(_targ_name "gazebo-classic_${model}_${debugger}_${world}")
 						endif()
 					endif()
 
 					add_custom_target(${_targ_name}
-						COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+						COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 						WORKING_DIRECTORY ${SITL_WORKING_DIR}
 						USES_TERMINAL
-						DEPENDS px4 sitl_gazebo
+						DEPENDS px4 sitl_gazebo-classic
+					)
+
+					string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name})
+					add_custom_target(${_targ_name_compat}
+						COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}"
+						COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name}
+						USES_TERMINAL
+						VERBATIM
 					)
 				endif()
 			endforeach()
 		endforeach()
 	endforeach()
 
-	add_custom_target(gazebo DEPENDS gazebo_iris) # alias
+	add_custom_target(gazebo-classic DEPENDS gazebo-classic_iris) # alias
+	add_custom_target(gazebo DEPENDS gazebo-classic_iris) # alias
 
 	# mavsdk tests currently depend on sitl_gazebo
 	ExternalProject_Add(mavsdk_tests
diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py
index e2abe6cc20..fa6bc95b4e 100644
--- a/test/mavsdk_tests/process_helper.py
+++ b/test/mavsdk_tests/process_helper.py
@@ -10,8 +10,10 @@ import threading
 import errno
 from typing import Any, Dict, List, TextIO, Optional
 
-PX4_GAZEBO_MODELS = "Tools/simulation/gazebo/sitl_gazebo/models"
-PX4_GAZEBO_WORLDS = "Tools/simulation/gazebo/sitl_gazebo/worlds"
+PX4_SITL_GAZEBO_PATH = "Tools/simulation/gazebo-classic/sitl_gazebo-classic"
+
+PX4_GAZEBO_MODELS = PX4_SITL_GAZEBO_PATH + "/models"
+PX4_GAZEBO_WORLDS = PX4_SITL_GAZEBO_PATH + "/worlds"
 
 
 class Runner:
@@ -164,7 +166,7 @@ class Px4Runner(Runner):
                 os.path.join(workspace_dir, "test_data"),
                 "-d"
             ]
-        self.env["PX4_SIM_MODEL"] = "gazebo_" + self.model
+        self.env["PX4_SIM_MODEL"] = "gazebo-classic_" + self.model
         self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
         self.debugger = debugger
         self.clear_rootfs()
@@ -224,7 +226,7 @@ class GzserverRunner(Runner):
         self.name = "gzserver"
         self.cwd = workspace_dir
         self.env["GAZEBO_PLUGIN_PATH"] = \
-            os.path.join(workspace_dir, build_dir, "build_gazebo")
+            os.path.join(workspace_dir, build_dir, "build_gazebo-classic")
         self.env["GAZEBO_MODEL_PATH"] = \
             os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
         self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
@@ -262,7 +264,7 @@ class GzmodelspawnRunner(Runner):
         self.name = "gzmodelspawn"
         self.cwd = workspace_dir
         self.env["GAZEBO_PLUGIN_PATH"] = \
-            os.path.join(workspace_dir, build_dir, "build_gazebo")
+            os.path.join(workspace_dir, build_dir, "build_gazebo-classic")
         self.env["GAZEBO_MODEL_PATH"] = \
             os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
         self.cmd = "gz"
diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh
index 9814414993..f3964d82a1 100755
--- a/test/rostest_px4_run.sh
+++ b/test/rostest_px4_run.sh
@@ -4,9 +4,9 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 PX4_SRC_DIR=${DIR}/..
 
 source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
-source ${PX4_SRC_DIR}/Tools/simulation/gazebo/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
+source ${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
 
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 
 export ROS_LOG_DIR="$HOME/.ros/ros_logs"
 mkdir -p "$ROS_LOG_DIR"