# Issue with HITL Setup on VOXL2 and Gazebo

Source: https://forum.modalai.com/topic/2851/issue-with-hitl-setup-on-voxl2-and-gazebo
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-11-10 23:08:27 UTC by Upasana Mahanti
Replies: 2 · Views: 598

## Upasana Mahanti · 2023-11-10 23:08:27 UTC

Hello ModalAI community, I am currently attempting to set up Hardware-in-the-Loop (HITL) simulation on my VOXL2 following the documentation provided. I've successfully gone through the necessary steps, including arming and taking off the vehicle using the following commands on the VOXL terminal:

qshell commander arm
qshell commander takeoff
qshell commander land

On the VOXL terminal, everything appears to work as expected, and I receive the expected responses. However, when checking the Gazebo simulation, the simulated vehicle does not seem to be armed or taking off.

Here are some additional details:

    I am running Ubuntu 22.04.
    Gazebo is set up inside a Docker container as mentioned in the HITL documentation.

I have followed the instructions meticulously, but I'm encountering this discrepancy between the VOXL terminal and the Gazebo simulation. If anyone has insights or has faced a similar issue, I would greatly appreciate your guidance.

## Reply by Moderator (ModalAI staff) · 2023-11-13 17:28:59 UTC

@Upasana-Mahanti have you looked at the PX4 messages output to see why it's not taking off?

## Reply by Eric Katzfey (ModalAI staff) · 2023-11-14 15:46:15 UTC

@Upasana-Mahanti The HITL documentation has recently been updated. Can you please check it out and see if it is the same documentation that you were using? https://docs.modalai.com/voxl2-PX4-hitl/