Adding custom model in Gazebo classic

PX4 Autopilot
1

I’m using Ubuntu 22.04, ROS2 Humble, Gazebo classic for developing environment.
And have some trouble with adding own custom tiltrotor model.
This files below is what i modified it

/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/  # put my custom model sdf file   
/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes # add custom model's parameters and modify CMakeLists.txt

After that i just type ‘make px4_sitl command’ and result is

ubuntu@ubuntu-laptop:~/PX4-Autopilot$ make px4_sitl gazebo-classic_titan_hornet
ninja: error: unknown target 'gazebo-classic_titan_hornet'
make: *** [Makefile:232: px4_sitl] Error 1

My custom model’s name is titan_hornet and i would appreciate it if let me know which files should i modify to use custom model on gazebo classic.
Also other models on gazebo classic works well.

2

To add a custom vehicle for use with Gazebo Classic SITL, follow these steps:

  1. Navigate to the directory:
    PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models.
  2. Create a new directory for your model. For example:
    titan_hornet.
  3. Inside your model directory, create two files:
    • An SDF (Simulation Description Format) file.
    • A model configuration file.
  4. Navigate to the directory:
    PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes.
  5. Create a new airframe for your model, prefacing the filename with gazebo-classic. For example:
    5001_gazebo-classic_titan_hornet.
  6. In the same directory, add your airframe to the CMake file by including it in the px4_add_romfs_files() function.
  7. Navigate to:
    PX4-Autopilot/src/modules/simulation/simulator_mavlink.
  8. Add your vehicle to the sitl_targets_gazebo-classic configuration (e.g., set(models ...)).
  9. After completing these steps, you can launch Gazebo Classic with your custom model using the following command:
    make px4_sitl gazebo-classic_titan_hornet.
3

You can look the following Create custom model for SITL for more details

4

The information in that thread is outdated.

5

Slight correction: [22000, 22999] are reserved for custom models, so it is recommended to use these numbers as a prefix (e.g., 22000_gazebo-classic_titan_hornet).