diff --git a/launch/multi_uav_mavros_sitl.launch b/launch/multi_uav_mavros_sitl.launch
index b000b30e52..560ebd1621 100644
--- a/launch/multi_uav_mavros_sitl.launch
+++ b/launch/multi_uav_mavros_sitl.launch
@@ -34,6 +34,7 @@
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
             <arg name="mavlink_udp_port" value="14561"/>
+            <arg name="mavlink_tcp_port" value="4561"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
         <!-- MAVROS -->
@@ -59,6 +60,7 @@
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
             <arg name="mavlink_udp_port" value="14562"/>
+            <arg name="mavlink_tcp_port" value="4562"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
         <!-- MAVROS -->
@@ -85,6 +87,7 @@
             <arg name="Y" value="0"/>
             <arg name="vehicle" value="$(arg vehicle)"/>
             <arg name="mavlink_udp_port" value="14563"/>
+            <arg name="mavlink_tcp_port" value="4563"/>
             <arg name="ID" value="$(arg ID)"/>
         </include>
         <!-- MAVROS -->
diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch
index 7fe1d0b492..ae2fbf184c 100644
--- a/launch/single_vehicle_spawn.launch
+++ b/launch/single_vehicle_spawn.launch
@@ -16,10 +16,11 @@
     <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
     <env name="PX4_ESTIMATOR" value="$(arg est)" />
     <arg name="mavlink_udp_port" default="14560"/>
+    <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) --inorder"/>
+    <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"/>
     <!-- PX4 SITL -->
     <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>