diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 6b9c8f15c2..b943edadde 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 6b9c8f15c24b9ca365f3b13978fe792aa31a2fa3
+Subproject commit b943edaddee2b5e84e7bb489c43ebb13dd70495d
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index e01926b33a..ad9d9b5436 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -19,14 +19,14 @@
     <arg name="mavlink_tcp_port" default="4560"/>
     <!-- PX4 configs -->
     <arg name="interactive" default="true"/>
-    <!-- generate urdf vehicle model -->
-    <arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
-    <param command="$(arg cmd)" name="rotors_description"/>
+    <!-- generate sdf vehicle model -->
+    <arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
+    <param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
     </node>
     <!-- spawn vehicle -->
-    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -param sdf_$(arg vehicle)$(arg ID) -model $(arg vehicle)$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
 </launch>