diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index 786cde3d16..a12d0f3046 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -61,6 +61,13 @@ pipeline {
               vehicle: "iris"
             ],
 
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
             [
               name: "VTOL_standard",
               test: "mavros_posix_test_mission.test",
diff --git a/.ci/Jenkinsfile-SITL_tests_ASan b/.ci/Jenkinsfile-SITL_tests_ASan
index 94bba72004..7b759b26b5 100644
--- a/.ci/Jenkinsfile-SITL_tests_ASan
+++ b/.ci/Jenkinsfile-SITL_tests_ASan
@@ -61,6 +61,13 @@ pipeline {
               vehicle: "iris"
             ],
 
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
             [
               name: "VTOL_standard",
               test: "mavros_posix_test_mission.test",
diff --git a/.ci/Jenkinsfile-SITL_tests_coverage b/.ci/Jenkinsfile-SITL_tests_coverage
index a91696584d..4c4c4ef42e 100644
--- a/.ci/Jenkinsfile-SITL_tests_coverage
+++ b/.ci/Jenkinsfile-SITL_tests_coverage
@@ -35,6 +35,13 @@ pipeline {
               vehicle: "iris"
             ],
 
+            [
+              name: "Rover 1",
+              test: "mavros_posix_test_mission.test",
+              mission: "rover_mission_1",
+              vehicle: "rover"
+            ],
+
             [
               name: "VTOL_standard",
               test: "mavros_posix_test_mission.test",
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index af00ac4dfc..f2593dbcc2 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit af00ac4dfc5cfb25140254c5cae2a225944fc1c1
+Subproject commit f2593dbcc2980dd15714925931fbb0e46a63a4b2
diff --git a/integrationtests/python_src/px4_it/mavros/missions/rover_mission_1.plan b/integrationtests/python_src/px4_it/mavros/missions/rover_mission_1.plan
new file mode 100644
index 0000000000..e7c76347fc
--- /dev/null
+++ b/integrationtests/python_src/px4_it/mavros/missions/rover_mission_1.plan
@@ -0,0 +1,88 @@
+{
+    "fileType": "Plan",
+    "geoFence": {
+        "circles": [
+        ],
+        "polygons": [
+        ],
+        "version": 2
+    },
+    "groundStation": "QGroundControl",
+    "mission": {
+        "cruiseSpeed": 15,
+        "firmwareType": 12,
+        "hoverSpeed": 5,
+        "items": [
+            {
+                "AMSLAltAboveTerrain": 0,
+                "Altitude": 0,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 1,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.39773780490375,
+                    8.54604903179387,
+                    0
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": 0,
+                "Altitude": 0,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 2,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.397488802748335,
+                    8.54604396073961,
+                    0
+                ],
+                "type": "SimpleItem"
+            },
+            {
+                "AMSLAltAboveTerrain": 0,
+                "Altitude": 0,
+                "AltitudeMode": 1,
+                "autoContinue": true,
+                "command": 16,
+                "doJumpId": 3,
+                "frame": 3,
+                "params": [
+                    0,
+                    0,
+                    0,
+                    null,
+                    47.397475935201946,
+                    8.545597816497462,
+                    0
+                ],
+                "type": "SimpleItem"
+            }
+        ],
+        "plannedHomePosition": [
+            47.3977419,
+            8.5455944,
+            489
+        ],
+        "vehicleType": 10,
+        "version": 2
+    },
+    "rallyPoints": {
+        "points": [
+        ],
+        "version": 2
+    },
+    "version": 1
+}