PX4 Simulation QuickStart

First install Docker (a free tool that runs containers).

The following command will then run a PX4 quadrotor simulation that you can connect to QGroundControl, MAVSDK or ROS 2 (on Linux, macOS, and Windows):

docker run --rm -it -p 14550:14550/udp px4io/px4-sitl:latest

That's it — open QGroundControl and fly!

Details

Trouble connecting to QGC? This command is recommended for Linux and can also be used on Windows (with recent docker/WSL2). It uses a different mechanism for connecting to the host ports, and will often work in rare cases where the other command does not.

docker run --rm -it --network host px4io/px4-sitl:latest

TIP

To try other vehicle types, use the -e flag to pass the PX4_SIM_MODEL environment variable to the docker run command:

Plane

docker run --rm -it -p 14550:14550/udp -e PX4_SIM_MODEL=sihsim_airplane px4io/px4-sitl:latest

标准垂起固定翼

docker run --rm -it -p 14550:14550/udp -e PX4_SIM_MODEL=sihsim_standard_vtol px4io/px4-sitl:latest

Ackermann rover

docker run --rm -it -p 14550:14550/udp -e PX4_SIM_MODEL=sihsim_rover_ackermann px4io/px4-sitl:latest

For more information and options see Container Images (in Pre-built SITL Packages) and SIH Simulation.