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