> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/app-development/simulation/auterion-simulator/auterion-simulator-reference.md).

# Auterion Simulator reference

Install, configure, and troubleshoot Auterion Simulator on Ubuntu.

Use this reference for installation, configuration, performance, and troubleshooting details. For the Flight Tester workflow, see [Auterion Simulator](/app-development/simulation/auterion-simulator.md).

### Requirements

Auterion Simulator runs on Ubuntu only. Released packages support Ubuntu 22.04, 24.04, 25.04, 25.10, and 26.04.

The simulator has been tested on these systems:

* **Asus G14** — AMD Ryzen 9 HX 370, RTX 5080 Max-Q, 32 GB RAM.
* **Lenovo Yoga Pro 9** — Intel Core Ultra 9 185H, RTX 4070, 32 GB RAM.
* **Tower PC** — AMD Ryzen 7 5800X, RX 7700 XT, 64 GB RAM.
* **Tower PC** — AMD Ryzen 7 5800X, RTX 4070 SUPER, 32 GB RAM.

{% hint style="warning" %}
KVM is required for practical performance. Without it, QEMU fully emulates each VM.
{% endhint %}

Verify virtualization support:

```bash
sudo apt install cpu-checker
sudo kvm-ok
```

On on ubuntu 25 and above gazebo runs on docker

Every vehicle instance has its own VM. Its vCPU and RAM settings scale fleet demand.

Content packages consume several gigabytes. Each vehicle also keeps a private rootfs clone.

### Installation

Add the Auterion package repository:

```bash
curl -1sLf 'https://dl.cloudsmith.io/public/auterion/public/setup.deb.sh' | sudo -E bash
sudo apt update
sudo apt install auterion-simulator
```

Install the beta channel with:

```bash
sudo apt install auterion-simulator-beta
```

Switch back with `sudo apt install auterion-simulator`.

Stable and beta share everything the only difference is the method of obtaining them.

The launcher grants required privileges to your current user, so you can run everything without needing to use sudo every time.

Install AMC from [Auterion Suite](https://suite.auterion.com/store/amc). Then follow the [Installation](/vehicle-operation/auterion-mission-control/installation.md).

### Simulation modes

Each mode includes the capabilities of the preceding mode.

* **Minimal simulation + no camera** runs PX4 SIH inside each VM. It has no Gazebo, Unreal, or video.
* **Gazebo physics + basic camera** runs VMs and Gazebo. The camera is a Gazebo sensor.
* **Gazebo physics + Unreal camera** runs VMs, Gazebo, and Unreal. Unreal renders the camera. This is the default.

In SIH, vehicle home comes from `sih_model_home`. In Gazebo and Unreal, it comes from the Gazebo world origin.

### Presets

A preset saves a scenario. It stores the vehicle types, spawn counts, and required settings.

Use **Apply** for the selected preset. Use **Save…** to create one. Use **Load…** to import one.

Shipped presets and user presets are separate. User presets are stored in `~/.auterion-simulator/presets/`.

Use **Restore shipped presets** to restore the built-in set.

{% hint style="warning" %}
The vehicles section is authoritative. Any vehicle absent from a preset is set to zero. A general-only preset leaves the fleet unchanged.
{% endhint %}

### Live controls

Installed content supplies controls for a running simulation. Available controls can include:

* Infrared/EO switching, time of day, camera noise, and blur distance.
* Set heading, catapult launch, and interceptor launch.

Open the **Live Control** panel during a run. Open its menu and choose **More controls** for controls offered by that run.

Detach the panel to create an always-on-top window.

Controls appear only while the simulation is **Running**. Their supplying package must belong to the active run.

### Unreal look and performance

Configure Unreal under **Settings** → **Simulation** → **Unreal**.

* **Graphics quality (Unreal)** ranges from **Low** to **Cinematic**. The default is **Epic**.
* **Time of day** accepts a preset name, `HH:MM`, or a decimal hour.
* **Unreal extra arguments** passes extra launch arguments to Unreal.
* **Print camera FPS** helps diagnose camera performance.

Unreal renders offscreen. It has no visible window or dock icon.

### AMC integration

Start AMC after the simulator reaches **Running**. For lower video latency, set **Settings** → **General** → **Video** → **Low Latency Mode** to **ON**.

When installed content provides terrain and imagery, the launcher provisions an offline AMC map. It creates map and elevation tiles, centers AMC, and clears stale tiles.

AMC may close and relaunch while those settings apply. Reopen it when prompted.

Map setup is best-effort. It never blocks a simulation run. It requires `gdal-bin` and `python3-pil`.

### Updating

Use **Versions** → **Check for updates** to check the current channel.

Use **Select version…** to install any published stable or beta version. Downgrades are supported. Older versions are marked **❗**.

Use **Changelog** to review release notes. The launcher also shows a what's-new dialog after a new version first starts.

At startup, choose **Update now**, **Not now**, **Ignore this version**, or **Never**. The corner badge remains visible after **Never**.

Updates are refused while a simulation is running. The launcher offers to restart after updating.

### Diagnostics

Use **Help** → **Send report** to upload diagnostics. Use **Help** → **Save report…** to write a ZIP file.

The **Log** panel's **Report** menu provides the same actions.

Reports include launcher, Gazebo, flight-stack, and Unreal logs. They also include system information, simulation configuration, and installed packages.

Create a report while the simulation runs. Otherwise per-run logs are incomplete. The launcher warns and can boot the simulation first.

Daily launcher logs are stored at:

```
~/.auterion-simulator/logs/YYYY-MM-DD.log
```

### Live controls

With the live controls tab you can change the current simulation, for now only unreal parameters are supported, and lunching raider catapult is done from here.

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2FeBCSzOzp5mPHAD07FLCX%2Fimage.png?alt=media&amp;token=17c3b4ae-9759-4ad5-a7a0-30a82dd7b700" alt=""><figcaption></figcaption></figure>

### VM's tab

The vm's tab will show you the current status of your fleet, whether any of the devices are having issues, and from there you can control them finely. You can

1. Drop a machine, in case you dont wish to use it anymore, but warning this remove the gazebo model, just the vm itself.
2. Wipe it, so it reinstall fresh while the run is still ongoing.
3. Kick the FMU, which restart it.
4. And just restart the machine itself.

You can see the status of your CPU and RAM usage inside the machine. And have a convenient access to the web interface by clicking the ip hyperlink.

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2FAveu1c6QovDDpgFt2IOL%2Fimage.png?alt=media&amp;token=bf5b49c1-c62f-4203-8645-dae8a8548d78" alt=""><figcaption></figcaption></figure>

### Files and reset

Simulator state persists across reinstalls:

```
~/.auterion-simulator/
├── settings
├── presets
├── logs
├── content
└── instances/<image>/<slug>-<id>/
```

The `instances` directory stores per-VM state. Delete `~/.auterion-simulator/` to factory-reset the simulator.

The launcher prompts before forced wipes and when an image changed underneath a VM. Use the reset action in **Settings** for a guided reset.

{% hint style="warning" %}
Never pre-create an empty VM `storage/` directory. Virtual Skynode treats it as fresh storage and wipes the VM.
{% endhint %}

### Advanced

For physical-device simulation, see [Hardware in the Loop](/app-development/simulation/auterion-simulator/hardware-in-the-loop.md).

#### Headless and CI

Run the backend without the launcher:

```bash
auterion-simulator-server --port 7811 --headless
```

Start a simulation with `POST /api/sim/start` and a configuration JSON. Read state with `GET /api/sim/state`.

Open `/docs` for the interactive API reference. The backend uses a 1 Hz heartbeat watchdog.

Headless mode bypasses GUI lifecycle handling.

#### Swarm backend

Swarm backend is auto installed and autoenabled if supported vehicles are detected.\
\
The first start installs `mavlink-router` on demand.

### Troubleshooting

#### Camera spawns inside the vehicle

Check the vehicle's camera configuration and model alignment.

#### Vehicle is underground or has no video

Ensure the Virtual FMU model name matches `gz_model_name`. Check the vehicle apps at `http://10.41.200.2/apps`.

#### Ctrl+C also kills all processes for the Simulator

#### Preflight-checks

The pre-flight checks tab will show you any issues that need to be solved before you can run the sim. You can ignore them.

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2FYbkGDooA1qevCLF94cOn%2Fimage.png?alt=media&amp;token=14889d49-ff3d-4004-8b6c-7a3b977e3ae1" alt=""><figcaption></figcaption></figure>

### Uninstall

Remove the stable package:

```bash
sudo apt remove auterion-simulator
```

Remove the beta package with `sudo apt remove auterion-simulator-beta`.

Package removal keeps `~/.auterion-simulator/`. Delete that directory to remove downloaded multi-gigabyte content and all simulator state.