本主题提供 PX4 支持的 Gazebo 世界的有关图像/信息。
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.
所支持世界的源代码可在 GitHub 上找到：PX4/sitl_gazebo/worlds。
PX4/sitl_gazebo/worlds/empty.world
PX4/sitl_gazebo/worlds/baylands.world
PX4/sitl_gazebo/worlds/ksql_airport.world
PX4/sitl_gazebo/worlds/mcmillan_airfield.world
PX4/sitl_gazebo/worlds/sonoma_raceway.world 
PX4/sitl_gazebo/worlds/warehouse.world
PX4/sitl_gazebo/worlds/yosemite.world
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:
- boat.world: Includes a surface to simulate buoyancy of the boat.
- uuv_hippocampus.world: An empty world used to simulate an underwater environment for the HippoCampus UUV.
- typhoon_h480.world: Used by Typhoon H480 (Hexrotor) vehicle model and includes a video widget to enable / disable video streaming. The world includes a gazebo plugin for a simulated camera.
- iris_irlock.world: Includes a IR beacon for testing precision landing.