Integrating PX4 autopilot SITL in custom xacro UAV

Dronecode
1

Hi, I have a question to ask,
I have designed uav xacro file and i need to use PX4 SITL as flight controller.
I am using ROS2 jazzy and Gazebo harmonic
is this possible ?

2

Yes, it’s possible — but PX4 SITL doesn’t consume Xacro directly.
You need to convert your UAV xacro → URDF → SDF, then define the sensor/actuator plugins PX4 expects.

3

it only support sdf ? do i have to use a bridge between the sitl and my custom uav ?

4

Yes — PX4 SITL needs SDF for the Gazebo vehicle model, and you’ll use the px4_ros_com bridge (uXRCE-DDS) to connect with your ROS 2 stack.