# Using different gazebo worlds with SITL

**URL:** <https://discuss.px4.io/t/using-different-gazebo-worlds-with-sitl/123>\
**Category:** Uncategorized\
**Created:** [January 25, 2016, 9:18pm UTC](https://discuss.px4.io/t/using-different-gazebo-worlds-with-sitl/123 "2016-01-25T21:18:25Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![zqpm](https://discuss.px4.io/letter_avatar_proxy/v4/letter/z/a9adbd/32.png) [@zqpm](https://discuss.px4.io/u/zqpm)\
**Post date:** [January 25, 2016, 9:18pm UTC](https://discuss.px4.io/t/using-different-gazebo-worlds-with-sitl/123/1 "2016-01-25T21:18:25Z")

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Looking for more information on how to use my own Gazebo world models with the PX4 SITL simulation. Specifically, I would like to keep the robot model for the Iris (so I can fly it via mavlink commands) but I want to incorporate a terrain model I have from another project, as well as a custom sensor plug-in.