# Does PX4 support OFFBOARD mode for Rover? **URL:** \ **Category:** PX4 Autopilot\ **Created:** [July 16, 2020, 7:11am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693 "2020-07-16T07:11:32Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\ **Post date:** [July 16, 2020, 7:11am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/1 "2020-07-16T07:11:32Z")
Hi, I would like to control a Rover in OFFBOARD mode through MAVROS, e.g. sending position setpoints. I am not sure if this is currently supported in PX4. If it is, I would appreciate if someone points me in the right directions. I also would like to be able to test both quadcopter and rover concurrently in SITL. Is this also supported, or only one of them can be simulated at a time? @Jaeyoung-Lim any ideas? Thank you. ---
**Author:** ![Jaeyoung-Lim](https://discuss.px4.io/user_avatar/discuss.px4.io/jaeyoung-lim/32/10829_2.png) [@Jaeyoung-Lim](https://discuss.px4.io/u/Jaeyoung-Lim)\ **Post date:** [July 16, 2020, 7:15am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/2 "2020-07-16T07:15:41Z")
Both are supported and work out of the box For multivehicle sims: [https://dev.px4.io/master/en/simulation/multi\_vehicle\_simulation\_gazebo.html](https://dev.px4.io/master/en/simulation/multi_vehicle_simulation_gazebo.html) ---
**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\ **Post date:** [July 16, 2020, 8:12am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/3 "2020-07-16T08:12:24Z")
Thanks @Jaeyoung-Lim. I just tried to launch rover in Gazebo using `roslaunch px4 mavros_posix_sitl.launch vehicle:=rover` and I noticed that the real-time factor in Gazebo does not reach 1. It’s in the range 0.6-0.7. I am not sure what the bottleneck is. I have a decent machine and I would not expect it to be a limitation as I can run multi-drone simulation with real-time factor 1. Any ideas what the issue could be? ---
**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\ **Post date:** [July 16, 2020, 8:14am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/4 "2020-07-16T08:14:50Z")
I also would like to mention that I am using PX4 v1.10.1 ---
**Author:** ![Jaeyoung-Lim](https://discuss.px4.io/user_avatar/discuss.px4.io/jaeyoung-lim/32/10829_2.png) [@Jaeyoung-Lim](https://discuss.px4.io/u/Jaeyoung-Lim)\ **Post date:** [July 16, 2020, 9:04am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/5 "2020-07-16T09:04:56Z")
@Mzahana It is something happening recently and I am not sure what is causing this ---
**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\ **Post date:** [July 16, 2020, 4:43pm UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/6 "2020-07-16T16:43:16Z")
The original Gazebo model does not slow down the simulation. So it is most probably related to the additions and plugins that are added to interface it to PX4 ---
**Author:** ![fulano](https://discuss.px4.io/user_avatar/discuss.px4.io/fulano/32/6206_2.png) [@fulano](https://discuss.px4.io/u/fulano)\ **Post date:** [September 18, 2020, 11:18pm UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/7 "2020-09-18T23:18:59Z")
Have you found a solution for this issue? I’m facing the same problem, using PX4 v.1.11. Actually, using any two different vehicles will kill the real-time factor, which drops to 0.1. ---
**Author:** ![Jaeyoung-Lim](https://discuss.px4.io/user_avatar/discuss.px4.io/jaeyoung-lim/32/10829_2.png) [@Jaeyoung-Lim](https://discuss.px4.io/u/Jaeyoung-Lim)\ **Post date:** [September 19, 2020, 8:26am UTC](https://discuss.px4.io/t/does-px4-support-offboard-mode-for-rover/17693/8 "2020-09-19T08:26:41Z")
@fulano Will be fixed if you try latest master