VisionFlow-PX4

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Native Launch Guide ​

The native launch method runs PX4 SITL + Gazebo directly on the host machine, suitable for scenarios requiring direct access to system resources.

View Available Build Targets ​

bash
# View all simulation targets starting with gz_
ninja -C build/px4_sitl_default -t targets | grep "^gz_"

# Filter by keyword
ninja -C build/px4_sitl_default -t targets | grep gz_q940_ti
ninja -C build/px4_sitl_default -t targets | grep gz_swan_gamma

Launch Commands ​

Entity 1 — PreGME q940_ti with Landing Box ​

bash
PX4_GZ_WORLD=laboratory_landingbox \
  make px4_sitl gz_q940_ti_gripper4_laboratory_landingbox \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 2 — PreGME q940_ti VLA Task ​

bash
PX4_GZ_WORLD=laboratory_landingbox_vla_task0 \
  make px4_sitl gz_q940_ti_gripper4_laboratory_landingbox_vla_task0 \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 3 — Swan Gamma v1 (Company Legacy) ​

bash
PX4_GZ_WORLD=laboratory_no_landingbox \
  make px4_sitl gz_swan_gamma_v1_laboratory_no_landingbox \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 4 — Swan Gamma v2 (Company New) ​

bash
PX4_GZ_WORLD=laboratory_no_landingbox \
  make px4_sitl gz_swan_gamma_v2_laboratory_no_landingbox \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 5 — Swan Gamma v2 VLA Task ​

bash
PX4_GZ_WORLD=laboratory_no_landingbox_vla_task0 \
  make px4_sitl gz_swan_gamma_v2_laboratory_no_landingbox_vla_task0 \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 6 — X500 Gimbal ​

bash
PX4_GZ_WORLD=laboratory_no_landingbox \
  make px4_sitl gz_x500_gimbal_laboratory_no_landingbox \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Entity 7 — Differential Drive Rover ​

bash
PX4_GZ_MODEL_POSE="0,0,0.5,0,0,0" \
  make px4_sitl gz_differential_rover_laboratory_no_landingbox \
  EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

For Swan Gamma v1 and v2 targets, PX4 automatically builds the standalone Gazebo arm plugin under the selected PX4 build directory. Native builds require Gazebo development packages, Orocos KDL, ROS 2 kdl_parser, and a sourced ROS 2 Humble environment. Docker builds use a separate build/docker tree.

Restart Gazebo after rebuilding the plugin. A running Gazebo server cannot load a newly built system plugin merely by restarting PX4.

Launch Additional Nodes ​

Data Bridge (Gazebo ↔ ROS2) ​

bash
bash windshape_dev/data_stream/gz_bridge/bridge_gz_ros.sh

Camera Stream Visualization ​

bash
bash windshape_dev/data_stream/image_stream/camera_stream.sh

MAVROS Node ​

bash
source thirdparty/install/setup.bash && \
  ros2 launch mavros px4.launch fcu_url:=udp://:14540@localhost:14557

Hardware-in-the-Loop Simulation ​

bash
gz sim -r Tools/simulation/gz/worlds/laboratory_landingbox_hitl.sdf

Parameter Description ​

ParameterDescription
PX4_GZ_WORLDSpecify the Gazebo simulation scene
PX4_GZ_MODEL_POSEModel initial pose (x,y,z,roll,pitch,yaw)
EXTRA_CMAKE_ARGSExtra arguments passed to CMake
ENABLE_LOCKSTEP_SCHEDULEREnable lockstep scheduler to ensure simulation timing synchronization

FAQ ​

Slow Simulation Startup ​

The first launch requires compiling Gazebo plugins. Using ccache can speed up subsequent compilations:

bash
export CCACHE_MAX_SIZE=20G
export CCACHE_DIR=~/.ccache

Missing Gazebo Models ​

Ensure GAZEBO_MODEL_PATH includes the project model directory:

bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(pwd)/Tools/simulation/gz/models