Running the simulation

ros2 launch x500_gazebo sim.launch.xml

Launches the vehicle in its default configuration: every artifact of the loadout is generated at start (URDF, composed model, bridge config, into a directory under $ROS_HOME), the model is spawned as x500 into the ground world and the ROS bridge comes up with it. The vehicle rests on its landing gear; the rotors idle until an autopilot publishes on the motor bus (Actuators).

To run a custom vehicle instead, pass a loadout file with config_file:=; the configuration page lists the slots and Change the loadout walks through writing one.

Choosing the world

By default the vehicle is spawned into the vehicle free ground world (x500_ground.sdf). The world:= argument swaps the environment without changing anything else about the simulation: pass any vehicle free world SDF:

ros2 launch x500_gazebo sim.launch.xml world:=/path/my_world.sdf
# for example
ros2 launch x500_gazebo sim.launch.xml world:="$(ros2 pkg prefix --share x500_gazebo)/worlds/x500_playground.sdf"

In RViz

To see the model in RViz:

ros2 launch x500_description display.launch.xml