gazebo_vehicles.md

Gazebo 机型

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 PX4-Autopilot directory).

支持的机型种类包括：多旋翼、VTOL、尾座式 VTOL、固定翼、无人车、潜艇/无人水下航行器。

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

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

多旋翼

四旋翼（默认）

make px4_sitl gazebo

带光流的四旋翼

make px4_sitl gazebo_iris_opt_flow

3DR Solo（四旋翼）

make px4_sitl gazebo_solo

Typhoon H480（六旋翼）

make px4_sitl gazebo_typhoon_h480

:::note This target also supports video streaming simulation. :::

Plane/Fixed Wing

标准构型的固定翼飞机

make px4_sitl gazebo_plane

Standard Plane with Catapult Launch

make px4_sitl gazebo_plane_catapult

This model simulates hand/catapult launch, which can be used for fixed wing takeoff in position mode, takeoff mode, or missions.

The plane will automatically be launched as soon as the vehicle is armed.

垂直起降

标准垂起

make px4_sitl gazebo_standard_vtol

尾座式垂起

make px4_sitl gazebo_tailsitter

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackerman UGV

make px4_sitl gazebo_rover

Differential UGV

make px4_sitl gazebo_r1_rover

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus

Unmanned Surface Vehicle (USV/Boat)

船舶

make px4_sitl gazebo_boat

旋翼机

Cloudship

make px4_sitl gazebo_cloudship