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+\page spacecraft_thrusters Spacecraft thrusters
+
+## Spacecraft Thrusters Model
+
+To enable a seamless transition of space robotics control and planning schemes from simulation to real, we introduce
+a spacecraft thrusters model in Gazebo. The model provides a very simple interface to a solenoid valve that controls
+the flow of gas to the thruster. The thruster model is as follows:
+
+- force output equals maxThrust when the command is 1
+- force output equals 0 when the command is 0
+- force output is modeled according to a duty cycle with a given frequency, and thrust output is maximum at the ON state of the duty cycle
+
+In short, if the duty cycle signal is high, the solenoid valve behaves as a fully-opened thruster, providing maximum thrust.
+If the duty cycle signal is low, the solenoid valve behaves as a fully-closed thruster, providing no thrust.
+
+## Setting up the SpacecraftThrusterModel plugin
+
+Here follows an example instance of the SpacecraftThrusterModel plugin in an SDF file:
+```xml
+
+ thruster_0_joint
+ thruster_0
+ 0
+ 10
+ 1.4
+ command/motor_speed
+
+```
+
+In this case, each thruster link should be placed in the proper location in the spacecraft model.
+An example of this goes below:
+```xml
+
+ -0.12 0.12 0.2 3.14159 1.57079 3.14159
+ base_link
+ thruster_0
+
+
+ 0
+ 0
+
+ 0 0 1
+
+ -1e+16
+ 1e+16
+
+
+
+
+
+ 0
+ 0.2
+
+
+
+
+
+ true
+ 0 0 0 0 -0 0
+
+ 0 0 0 0 0 0
+ 0.001
+
+ 1e-05
+ 0
+ 0
+ 1e-05
+ 0
+ 1e-05
+
+
+
+```
+
+## Testing an implementation of a Spacecraft model
+
+Examples of spacecraft models with thrusters were implemented as part of the PX4-Autopilot SITL simulation.
+The spacecraft model can be found in the `PX4-gazebo-models` repository, in the `models/spacecraft_2d/model.sdf` directory.
+
+For instructions on how to run the spacecraft model, please refer to the [PX4-Space-Systems](https://github.com/DISCOWER/PX4-Space-Systems) page.
+
+Below is a picture of the simulator:
+
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