# Multi\_uav simulation with using gazebo and ros

**URL:** <https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700>\
**Category:** Uncategorized\
**Created:** [March 16, 2020, 2:11am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700 "2020-03-16T02:11:28Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![ZHQ\_air](https://discuss.px4.io/user_avatar/discuss.px4.io/zhq_air/32/5793_2.png) [@ZHQ\_air](https://discuss.px4.io/u/ZHQ_air)\
**Post date:** [March 16, 2020, 2:11am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/1 "2020-03-16T02:11:28Z")

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Dear

When I run the multi\_uav\_mavros\_sitl\_sdf.launch according to the ‘Multiple Vehicles using SDF Models’ in the ‘PX4 Development Guide’ and modify the name of vehicle as ‘typhoon\_h480’, there are three typhoon\_h480 uavs in gazebo, but the drones’ camera pan tilt are not controlled and there is no camera image topic of ros.

How can I work out this problem? Thank you very much.

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**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:** [March 16, 2020, 6:14am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/2 "2020-03-16T06:14:21Z")

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The typhoon\_h480 is not supported to work as the same as other examples

You need to modify the sdf file your self to use typhoon for multivehicle simulations

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<div class="post-metadata">

**Author:** ![ZHQ\_air](https://discuss.px4.io/user_avatar/discuss.px4.io/zhq_air/32/5793_2.png) [@ZHQ\_air](https://discuss.px4.io/u/ZHQ_air)\
**Post date:** [March 16, 2020, 7:18am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/3 "2020-03-16T07:18:40Z")

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Thank you very much for your explanation：  
This time I modify the sdf file of typhoon\_h480 by adding the plugin “cgo3\_camera\_controller” which is masked by default.  
In addition, I also investigate the sdf file of “iris”, it seems that there is nothing specific for the multivehicle simulations.  
About compiling commands，should I use “make px4\_sitl gazebo\_typhoon\_h480” or “make px4\_sitl\_default gazebo”. I’ve tried many times so far, but nothing has worked.  
That’s all, thank you very much.

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<div class="post-metadata">

**Author:** ![ZHQ\_air](https://discuss.px4.io/user_avatar/discuss.px4.io/zhq_air/32/5793_2.png) [@ZHQ\_air](https://discuss.px4.io/u/ZHQ_air)\
**Post date:** [March 16, 2020, 7:45am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/4 "2020-03-16T07:45:24Z")

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I use the compiling command “make px4\_sitl\_default gazebo”, and modify the sdf file of typhoon\_h480. The drones’ camera pan tilt are not controlled, but there are camera image topics of ros.

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<div class="post-metadata">

**Author:** ![ZHQ\_air](https://discuss.px4.io/user_avatar/discuss.px4.io/zhq_air/32/5793_2.png) [@ZHQ\_air](https://discuss.px4.io/u/ZHQ_air)\
**Post date:** [March 16, 2020, 10:42am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/5 "2020-03-16T10:42:16Z")

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The version of the px4 is 1.10.0

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<div class="post-metadata">

**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:** [March 16, 2020, 12:23pm UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/6 "2020-03-16T12:23:52Z")

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You can compare how the sdf files look like as trying out the instructions [here](https://dev.px4.io/master/en/simulation/multi-vehicle-simulation.html) without using ROS

The sdf files generated will be stored in `/tmp/<vehicle_name>.sdf ` basically you need to configure the mavlink interface plugin : [https://github.com/PX4/sitl\_gazebo/blob/master/models/typhoon\_h480/typhoon\_h480.sdf#L1351](https://github.com/PX4/sitl_gazebo/blob/master/models/typhoon_h480/typhoon_h480.sdf#L1351) to be able to interface with multiple vehicles

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<div class="post-metadata">

**Author:** ![ZHQ\_air](https://discuss.px4.io/user_avatar/discuss.px4.io/zhq_air/32/5793_2.png) [@ZHQ\_air](https://discuss.px4.io/u/ZHQ_air)\
**Post date:** [March 17, 2020, 6:46am UTC](https://discuss.px4.io/t/multi-uav-simulation-with-using-gazebo-and-ros/15700/7 "2020-03-17T06:46:14Z")

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First of all, I am very appreciative for your detailed explanation. I will try again according to your instructions.