Firefly hexacopter

RotorS firefly hexacopter source with reusable multirotor components.

DronesXacroROS 1 / Gazebo Classic

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Open a local URDF

Visualization checks geometry and joint motion. It does not run a physics simulation.

Before you use this model

Requires RotorS packages and Xacro arguments. The upstream stack targets ROS 1 and Gazebo Classic, not current Gazebo.

Research drone models and plugins for the older ROS/Gazebo stack. These are not ready-made current Gazebo or ROS 2 packages.

Get the source package

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Download upstream ZIP

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Open model sourceRepository & documentation
Maintainer / source
ethz-asl/rotors_simulator
Branch at check
master
Model path
rotors_description/urdf/firefly.xacro
Revision
cd813b7a8c37
License context
Review package and asset terms upstream
Source checked
2026-10-28 · path and resources, not simulator behavior

From source to your workspace

  1. 1. Get the complete package

    Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.

  2. 2. Resolve the description

    Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.

  3. 3. Inspect before simulation

    Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.

    Check your URDF

More drones

View category →