diff --git a/integrationtests/run_tests.bash b/integrationtests/run_tests.bash
index 6707af90aa..6894252a56 100755
--- a/integrationtests/run_tests.bash
+++ b/integrationtests/run_tests.bash
@@ -43,11 +43,7 @@ ln -s ${SRC_DIR} /root/Firmware
 echo "=====> compile ($SRC_DIR)"
 cd $SRC_DIR
 make ${BUILD}
-mkdir -p Tools/sitl_gazebo/Build
-cd Tools/sitl_gazebo/Build
-cmake -Wno-dev ..
-make -j4
-make sdf
+make --no-print-directory gazebo_build
 echo "<====="
 
 # don't exit on error anymore from here on (because single tests or exports might fail)
diff --git a/integrationtests/setup_gazebo_ros.bash b/integrationtests/setup_gazebo_ros.bash
index 7655fec9a7..f02943eb3d 100755
--- a/integrationtests/setup_gazebo_ros.bash
+++ b/integrationtests/setup_gazebo_ros.bash
@@ -18,3 +18,5 @@ export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/model
 export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
+export GAZEBO_MODEL_DATABASE_URI=""
+export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 905e0a2ff1..32a21fcf3b 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -6,6 +6,7 @@
     <arg name="ns" default="/"/>
     <arg name="world" default="iris"/>
     <arg name="build" default="posix_sitl_default"/>
+    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
 
     <include file="$(find px4)/launch/posix_sitl.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -17,6 +18,6 @@
 
     <include file="$(find px4)/launch/mavros.launch">
         <arg name="ns" value="$(arg ns)"/>
-        <arg name="fcu_url" value="udp://:14567@localhost:14557"/>
+        <arg name="fcu_url" value="$(arg fcu_url)"/>
     </include>
 </launch>
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 4e3b71f70c..9895ee9d43 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -7,7 +7,7 @@
     <arg name="world" default="iris"/>
     <arg name="build" default="posix_sitl_default"/>
 
-    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)">
+    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
         <env name="no_sim" value="1" />
     </node>