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154 lines
3.3 KiB
Markdown
154 lines
3.3 KiB
Markdown
# Gazebo Classic Vehicles
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This topic lists/displays the vehicles supported by the PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation and the `make` commands required to run them (the commands are run from a terminal in the **PX4-Autopilot** directory).
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Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV.
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::: info
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The [Gazebo Classic](../sim_gazebo_classic/index.md) page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options.
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:::
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## Multicopter
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### Quadrotor (Default)
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```sh
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make px4_sitl gazebo-classic
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```
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### Quadrotor with Optical Flow
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```sh
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make px4_sitl gazebo-classic_iris_opt_flow
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```
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### Quadrotor with Depth Camera
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These models have a depth camera attached, modelled on the Intel® RealSense™ D455.
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_Forward-facing depth camera:_
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```sh
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make px4_sitl gazebo-classic_iris_depth_camera
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```
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_Downward-facing depth camera:_
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```sh
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make px4_sitl gazebo-classic_iris_downward_depth_camera
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```
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### 3DR Solo (Quadrotor)
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```sh
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make px4_sitl gazebo-classic_solo
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```
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### Typhoon H480 (Hexrotor)
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```sh
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make px4_sitl gazebo-classic_typhoon_h480
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```
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::: info
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This target also supports [video streaming simulation](../sim_gazebo_classic/index.md#video-streaming).
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:::
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<a id="fixed_wing"></a>
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## Plane/Fixed-wing
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### Standard Plane
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```sh
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make px4_sitl gazebo-classic_plane
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```
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#### Standard Plane with Catapult Launch
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```sh
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make px4_sitl gazebo-classic_plane_catapult
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```
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This model simulates hand/catapult launch, which can be used for [fixed-wing takeoff](../flight_modes_fw/takeoff.md) in position mode, takeoff mode, or missions.
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The plane will automatically be launched as soon as the vehicle is armed.
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## VTOL
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### Standard VTOL
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```sh
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make px4_sitl gazebo-classic_standard_vtol
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```
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### Tailsitter VTOL
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```sh
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make px4_sitl gazebo-classic_tailsitter
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```
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<a id="ugv"></a>
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## Unmmanned Ground Vehicle (UGV/Rover/Car)
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### Ackermann UGV
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```sh
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make px4_sitl gazebo-classic_rover
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```
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### Differential UGV
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```sh
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make px4_sitl gazebo-classic_r1_rover
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```
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## Unmanned Underwater Vehicle (UUV/Submarine)
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### HippoCampus TUHH UUV
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```sh
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make px4_sitl gazebo-classic_uuv_hippocampus
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```
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## Unmanned Surface Vehicle (USV/Boat)
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<a id="usv_boat"></a>
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### Boat (USV)
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```sh
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make px4_sitl gazebo-classic_boat
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```
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<a id="airship"></a>
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## Airship
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### Cloudship
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```sh
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make px4_sitl gazebo-classic_cloudship
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```
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