Hello everyone,
I’m working with the X500 model and created a copy named X500_CUSTOM.
My goal is to extend the model into a rover + X500 platform by adding four wheels to the lower legs of the drone, allowing it to move on the ground in addition to flying.
At this stage, I’m focusing purely on simulation in Gazebo, just to explore the concept and basic control behavior — not on a physical prototype yet.
So far, I have already:
Duplicated the original x500 folder under Tools/simulation/gz/models and renamed it to x500_custom.
Verified that the custom model loads correctly in Gazebo with PX4 (make px4_sitl gz_x500_custom).
Now I’d like to get your advice on the next steps:
What’s the recommended way to add the wheels and enable ground motion in simulation?
Should I define the wheels as additional links with revolute joints and connect them to the existing legs?
Are there any existing PX4 or Gazebo examples of air–ground vehicles that could help guide this?
Thanks in advance for your help and insights!