diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow
new file mode 100644
index 0000000000..5f0aababbd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# @name Gazebo x500 with downward optical flow and distance sensor
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+echo "Disabling Sim GPS"
+param set-default SYS_HAS_GPS 0
+param set-default SIM_GPS_USED 0
+param set-default EKF2_GPS_CTRL 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 4ae56f51e9..b4e107799f 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -91,6 +91,7 @@ px4_add_romfs_files(
 	4018_gz_quadtailsitter
 	4019_gz_x500_gimbal
 	4020_gz_tiltrotor
+	4021_gz_x500_flow
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index ede64dcd34..b396115491 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -87,9 +87,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 				. ../gz_env.sh
 			fi
 
-			# Start gazebo with default world
 			echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+			${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
 			if [ -z "${HEADLESS}" ]; then
 				echo "INFO  [init] Starting gz gui"
@@ -124,9 +124,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 			echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
 		fi
 
+		echo "INFO  [init] Spawning model"
 		# Spawn model
 		${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-				--reptype gz.msgs.Boolean --timeout 1000 \
+				--reptype gz.msgs.Boolean --timeout 5000 \
 				--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
 
 		# Start gz_bridge
@@ -163,7 +164,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 		if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
 			echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
 			${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-						--reptype gz.msgs.Boolean --timeout 1000 \
+						--reptype gz.msgs.Boolean --timeout 5000 \
 						--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
 		fi
 
diff --git a/Tools/simulation/gz b/Tools/simulation/gz
index 23170a9125..5bbae38b4f 160000
--- a/Tools/simulation/gz
+++ b/Tools/simulation/gz
@@ -1 +1 @@
-Subproject commit 23170a91255d99aea8960d1101541afce0f209d9
+Subproject commit 5bbae38b4f942521b4f3288c298083571ea5718c
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index b0b7a8a2b3..8eb8ebec8c 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -50,7 +50,9 @@ CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
 CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
 CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
index e57c602045..784c5a5ca8 100644
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,21 +31,42 @@
 #
 ############################################################################
 
-# Find the gz_Transport library
-# Look for GZ Ionic or Harmonic
-find_package(gz-transport NAMES gz-transport14 gz-transport13)
+if(NOT DEFINED ENV{GZ_DISTRO})
+    set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
+else()
+    set(GZ_DISTRO $ENV{GZ_DISTRO})
+endif()
 
-if(gz-transport_FOUND)
+# Define library version combinations for different Gazebo distributions
+# https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
+if(GZ_DISTRO STREQUAL "harmonic")
+    set(GZ_CMAKE_VERSION "3")
+    set(GZ_MSGS_VERSION "10")
+    set(GZ_TRANSPORT_VERSION "13")
+    set(GZ_PLUGIN_VERSION "2")
+    set(GZ_SIM_VERSION "8")
+    set(GZ_SENSORS_VERSION "8")
+    message(STATUS "Using Gazebo Harmonic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
+elseif(GZ_DISTRO STREQUAL "ionic")
+    set(GZ_CMAKE_VERSION "4")
+    set(GZ_MSGS_VERSION "11")
+    set(GZ_TRANSPORT_VERSION "14")
+    set(GZ_PLUGIN_VERSION "3")
+    set(GZ_SIM_VERSION "9")
+    set(GZ_SENSORS_VERSION "9")
+    message(STATUS "Using Gazebo Ionic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
+else()
+    message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}. Valid options are: harmonic or ionic")
+endif()
 
-	add_compile_options(-frtti -fexceptions)
+# Use gz-transport as litmus test for prescence of gz
+find_package(gz-transport${GZ_TRANSPORT_VERSION})
 
-	set(GZ_TRANSPORT_VER ${gz-transport_VERSION_MAJOR})
+if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
 
-	if(GZ_TRANSPORT_VER GREATER_EQUAL 12)
-		set(GZ_TRANSPORT_LIB gz-transport${GZ_TRANSPORT_VER}::core)
-	else()
-		set(GZ_TRANSPORT_LIB ignition-transport${GZ_TRANSPORT_VER}::core)
-	endif()
+	find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
+	find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
+	find_package(Protobuf REQUIRED)
 
 	px4_add_module(
 		MODULE modules__simulation__gz_bridge
@@ -66,11 +87,19 @@ if(gz-transport_FOUND)
 		DEPENDS
 			mixer_module
 			px4_work_queue
-			${GZ_TRANSPORT_LIB}
+			gz-transport${GZ_TRANSPORT_VERSION}::core
 		MODULE_CONFIG
 			module.yaml
 	)
 
+    target_include_directories(modules__simulation__gz_bridge
+        PUBLIC
+            ${PX4_GZ_MSGS_BINARY_DIR}
+    )
+
+	target_include_directories(modules__simulation__gz_bridge PUBLIC px4_gz_msgs)
+	target_link_libraries(modules__simulation__gz_bridge PUBLIC px4_gz_msgs)
+
 	px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
 	include(ExternalProject)
 	ExternalProject_Add(gz
@@ -82,59 +111,41 @@ if(gz-transport_FOUND)
 		USES_TERMINAL_CONFIGURE true
 		USES_TERMINAL_BUILD true
 		EXCLUDE_FROM_ALL true
-		BUILD_ALWAYS 1
 	)
 
-	set(gz_worlds
-		default
-		windy
-		baylands
-  		lawn
-		aruco
-		rover
-		walls
-	)
-
-	# find corresponding airframes
-	file(GLOB gz_airframes
-	     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
-	     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*
-	)
-
-	# remove any .post files
-	foreach(gz_airframe IN LISTS gz_airframes)
-		if(gz_airframe MATCHES ".post")
-			list(REMOVE_ITEM gz_airframes ${gz_airframe})
-		endif()
-	endforeach()
-	list(REMOVE_DUPLICATES gz_airframes)
+	# Below we setup the build targets for our worlds and models
+	# Syntax: gz_<model_name>_<world_name>
+	# Example: gz_x500_flow_forest
+	file(GLOB gz_worlds ${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf)
+	file(GLOB gz_airframes ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*)
 
 	foreach(gz_airframe IN LISTS gz_airframes)
-		set(model_only)
-		string(REGEX REPLACE ".*_gz_" "" model_only ${gz_airframe})
+		set(model_name)
+		string(REGEX REPLACE ".*_gz_" "" model_name ${gz_airframe})
 
 		foreach(world ${gz_worlds})
 
 			get_filename_component("world_name" ${world} NAME_WE)
 
 			if(world_name STREQUAL "default")
-				add_custom_target(gz_${model_only}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $<TARGET_FILE:px4>
+				add_custom_target(gz_${model_name}
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 OpticalFlowSystem
 				)
 			else()
-				add_custom_target(gz_${model_only}_${world_name}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
+				add_custom_target(gz_${model_name}_${world_name}
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_name} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 OpticalFlowSystem
 				)
 			endif()
 		endforeach()
 	endforeach()
-	# PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH
+
+	# Setup the environment variables: PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH
 	configure_file(gz_env.sh.in ${PX4_BINARY_DIR}/rootfs/gz_env.sh)
 
 endif()
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index bb2e7282da..c890ad8d5c 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -135,6 +135,14 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
+	std::string flow_topic = "/world/" + _world_name + "/model/" + _model_name +
+				 "/link/flow_link/sensor/optical_flow/optical_flow";
+
+	if (!_node.Subscribe(flow_topic, &GZBridge::opticalFlowCallback, this)) {
+		PX4_ERR("failed to subscribe to %s", flow_topic.c_str());
+		return PX4_ERROR;
+	}
+
 	if (!_mixing_interface_esc.init(_model_name)) {
 		PX4_ERR("failed to init ESC output");
 		return PX4_ERROR;
@@ -168,6 +176,40 @@ void GZBridge::clockCallback(const gz::msgs::Clock &msg)
 	px4_clock_settime(CLOCK_MONOTONIC, &ts);
 }
 
+void GZBridge::opticalFlowCallback(const px4::msgs::OpticalFlow &flow)
+{
+	sensor_optical_flow_s msg = {};
+
+	msg.timestamp = hrt_absolute_time();
+	msg.timestamp_sample = flow.time_usec();
+	msg.pixel_flow[0] = flow.integrated_x();
+	msg.pixel_flow[1] = flow.integrated_y();
+	msg.quality = flow.quality();
+	msg.integration_timespan_us = flow.integration_time_us();
+
+	// Static data
+	device::Device::DeviceId id;
+	id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
+	id.devid_s.bus = 0;
+	id.devid_s.address = 0;
+	id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM;
+	msg.device_id = id.devid;
+
+	// values taken from PAW3902
+	msg.mode = sensor_optical_flow_s::MODE_LOWLIGHT;
+	msg.max_flow_rate = 7.4f;
+	msg.min_ground_distance = 0.f;
+	msg.max_ground_distance = 30.f;
+	msg.error_count = 0;
+
+	// No delta angle
+	// No distance
+	// This means that delta angle will come from vehicle gyro
+	// Distance will come from vehicle distance sensor
+
+	_optical_flow_pub.publish(msg);
+}
+
 void GZBridge::barometerCallback(const gz::msgs::FluidPressure &msg)
 {
 	const uint64_t timestamp = hrt_absolute_time();
diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
index 5e157f43b2..6128e8c175 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.hpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -57,6 +57,7 @@
 #include <uORB/topics/sensor_gyro.h>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/sensor_baro.h>
+#include <uORB/topics/sensor_optical_flow.h>
 #include <uORB/topics/obstacle_distance.h>
 #include <uORB/topics/wheel_encoders.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
@@ -77,6 +78,8 @@
 #include <gz/msgs/laserscan.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
 #include <gz/msgs/scene.pb.h>
+// Custom PX4 proto
+#include <opticalflow.pb.h>
 
 using namespace time_literals;
 
@@ -113,6 +116,7 @@ private:
 	void navSatCallback(const gz::msgs::NavSat &msg);
 	void laserScantoLidarSensorCallback(const gz::msgs::LaserScan &msg);
 	void laserScanCallback(const gz::msgs::LaserScan &msg);
+	void opticalFlowCallback(const px4::msgs::OpticalFlow &image_msg);
 
 	static void rotateQuaternion(gz::math::Quaterniond &q_FRD_to_NED, const gz::math::Quaterniond q_FLU_to_ENU);
 
@@ -128,12 +132,12 @@ private:
 	uORB::Publication<vehicle_attitude_s>         _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
 	uORB::Publication<vehicle_global_position_s>  _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
 	uORB::Publication<vehicle_local_position_s>   _lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
-
 	uORB::PublicationMulti<sensor_gps_s>          _sensor_gps_pub{ORB_ID(sensor_gps)};
 	uORB::PublicationMulti<sensor_baro_s>         _sensor_baro_pub{ORB_ID(sensor_baro)};
 	uORB::PublicationMulti<sensor_accel_s>        _sensor_accel_pub{ORB_ID(sensor_accel)};
 	uORB::PublicationMulti<sensor_gyro_s>         _sensor_gyro_pub{ORB_ID(sensor_gyro)};
 	uORB::PublicationMulti<vehicle_odometry_s>    _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
+	uORB::PublicationMulti<sensor_optical_flow_s> _optical_flow_pub{ORB_ID(sensor_optical_flow)};
 
 	GZMixingInterfaceESC   _mixing_interface_esc{_node};
 	GZMixingInterfaceServo _mixing_interface_servo{_node};
diff --git a/src/modules/simulation/gz_bridge/Kconfig b/src/modules/simulation/gz_bridge/Kconfig
index 0d4ab457d1..dd34a251b3 100644
--- a/src/modules/simulation/gz_bridge/Kconfig
+++ b/src/modules/simulation/gz_bridge/Kconfig
@@ -1,6 +1,6 @@
 menuconfig MODULES_SIMULATION_GZ_BRIDGE
 	bool "gz_bridge"
 	default n
-	depends on PLATFORM_POSIX
+	depends on PLATFORM_POSIX && MODULES_SIMULATION_GZ_MSGS
 	---help---
 		Enable support for gz_bridge
diff --git a/src/modules/simulation/gz_bridge/gz_env.sh.in b/src/modules/simulation/gz_bridge/gz_env.sh.in
index 810bc88948..3267318bfc 100644
--- a/src/modules/simulation/gz_bridge/gz_env.sh.in
+++ b/src/modules/simulation/gz_bridge/gz_env.sh.in
@@ -2,5 +2,7 @@
 
 export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
 export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
+export PX4_GZ_PLUGINS=@PX4_BINARY_DIR@/src/modules/simulation/gz_plugins
 
 export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
+export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PX4_GZ_PLUGINS
diff --git a/src/modules/simulation/gz_msgs/CMakeLists.txt b/src/modules/simulation/gz_msgs/CMakeLists.txt
new file mode 100644
index 0000000000..c74c010f91
--- /dev/null
+++ b/src/modules/simulation/gz_msgs/CMakeLists.txt
@@ -0,0 +1,55 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+############################################################################
+
+# message(FATAL_ERROR "JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE ")
+
+# Check for Gazebo first
+if(NOT DEFINED ENV{GZ_DISTRO})
+    set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
+else()
+    set(GZ_DISTRO $ENV{GZ_DISTRO})
+endif()
+
+# Set versions based on distribution
+if(GZ_DISTRO STREQUAL "harmonic")
+    set(GZ_CMAKE_VERSION "3")
+    set(GZ_MSGS_VERSION "10")
+    set(GZ_TRANSPORT_VERSION "13")
+elseif(GZ_DISTRO STREQUAL "ionic")
+    set(GZ_CMAKE_VERSION "4")
+    set(GZ_MSGS_VERSION "11")
+    set(GZ_TRANSPORT_VERSION "14")
+else()
+    message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}")
+endif()
+
+# Find required packages
+find_package(gz-transport${GZ_TRANSPORT_VERSION})
+if(gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
+    find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
+    find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
+    find_package(Protobuf REQUIRED)
+
+    # Generate protobuf messages
+    file(GLOB MSGS_PROTOS "${CMAKE_CURRENT_SOURCE_DIR}/*.proto")
+    PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS ${MSGS_PROTOS})
+
+    # Create library
+    add_library(px4_gz_msgs STATIC
+        ${PROTO_SRCS}
+        ${PROTO_HDRS}
+    )
+
+    target_include_directories(px4_gz_msgs
+        PUBLIC
+            ${CMAKE_CURRENT_BINARY_DIR}
+            ${Protobuf_INCLUDE_DIRS}
+    )
+    target_link_libraries(px4_gz_msgs PUBLIC ${PROTOBUF_LIBRARIES})
+
+    # Export the binary dir for other modules
+    set(PX4_GZ_MSGS_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+endif()
diff --git a/src/modules/simulation/gz_msgs/Kconfig b/src/modules/simulation/gz_msgs/Kconfig
new file mode 100644
index 0000000000..65b2a6453b
--- /dev/null
+++ b/src/modules/simulation/gz_msgs/Kconfig
@@ -0,0 +1,6 @@
+menuconfig MODULES_SIMULATION_GZ_MSGS
+	bool "gz_msgs"
+	default n
+	depends on PLATFORM_POSIX
+	---help---
+		Enable proto generation for custom PX4 messages
diff --git a/src/modules/simulation/gz_msgs/opticalflow.proto b/src/modules/simulation/gz_msgs/opticalflow.proto
new file mode 100644
index 0000000000..c03a96b9a8
--- /dev/null
+++ b/src/modules/simulation/gz_msgs/opticalflow.proto
@@ -0,0 +1,19 @@
+syntax = "proto3";
+package px4.msgs;
+
+message OpticalFlow {
+	// Timestamp (microseconds, since system start)
+	int64 time_usec = 1;
+
+	// Integration time
+	uint32 integration_time_us = 2;
+
+	// Integrated x-axis flow (rad)
+	float integrated_x = 3;
+
+	// Integrated y-axis flow (rad)
+	float integrated_y = 4;
+
+	// Quality of optical flow measurement (0: bad, 255: maximum quality)
+	float quality = 5;
+}
diff --git a/src/modules/simulation/gz_plugins/CMakeLists.txt b/src/modules/simulation/gz_plugins/CMakeLists.txt
new file mode 100644
index 0000000000..c4400b0204
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/CMakeLists.txt
@@ -0,0 +1,70 @@
+project(OpticalFlowSystem)
+
+if(NOT DEFINED ENV{GZ_DISTRO})
+    set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
+else()
+    set(GZ_DISTRO $ENV{GZ_DISTRO})
+endif()
+
+# Define library version combinations for different Gazebo distributions
+# https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
+if(GZ_DISTRO STREQUAL "harmonic")
+    set(GZ_CMAKE_VERSION "3")
+    set(GZ_MSGS_VERSION "10")
+    set(GZ_TRANSPORT_VERSION "13")
+    set(GZ_PLUGIN_VERSION "2")
+    set(GZ_SIM_VERSION "8")
+    set(GZ_SENSORS_VERSION "8")
+    message(STATUS "Using Gazebo Harmonic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
+elseif(GZ_DISTRO STREQUAL "ionic")
+    set(GZ_CMAKE_VERSION "4")
+    set(GZ_MSGS_VERSION "11")
+    set(GZ_TRANSPORT_VERSION "14")
+    set(GZ_PLUGIN_VERSION "3")
+    set(GZ_SIM_VERSION "9")
+    set(GZ_SENSORS_VERSION "9")
+    message(STATUS "Using Gazebo Ionic (cmake:${GZ_CMAKE_VERSION}, msgs:${GZ_MSGS_VERSION}, transport:${GZ_TRANSPORT_VERSION})")
+else()
+    message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}. Valid options are: harmonic or ionic")
+endif()
+
+# Use gz-transport as litmus test for prescence of gz
+find_package(gz-transport${GZ_TRANSPORT_VERSION})
+
+if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
+
+    gz_find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
+    gz_find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
+    gz_find_package(Protobuf REQUIRED)
+    gz_find_package(gz-plugin${GZ_PLUGIN_VERSION} REQUIRED COMPONENTS register)
+    gz_find_package(gz-sim${GZ_SIM_VERSION} REQUIRED)
+    gz_find_package(gz-sensors${GZ_SENSORS_VERSION} REQUIRED)
+
+    include(${CMAKE_CURRENT_SOURCE_DIR}/optical_flow.cmake)
+
+    add_library(${PROJECT_NAME} SHARED
+        OpticalFlowSensor.cpp
+        OpticalFlowSystem.cpp
+    )
+
+    target_link_libraries(${PROJECT_NAME}
+        PUBLIC px4_gz_msgs
+        PUBLIC gz-sensors${GZ_SENSORS_VERSION}::gz-sensors${GZ_SENSORS_VERSION}
+        PUBLIC gz-plugin${GZ_PLUGIN_VERSION}::gz-plugin${GZ_PLUGIN_VERSION}
+        PUBLIC gz-sim${GZ_SIM_VERSION}::gz-sim${GZ_SIM_VERSION}
+        PUBLIC gz-transport${GZ_TRANSPORT_VERSION}::gz-transport${GZ_TRANSPORT_VERSION}
+        PUBLIC ${OpenCV_LIBS}
+        PUBLIC ${OpticalFlow_LIBS}
+    )
+
+    target_include_directories(${PROJECT_NAME}
+        PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+        PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
+        PUBLIC ${OpenCV_INCLUDE_DIRS}
+        PUBLIC ${OpticalFlow_INCLUDE_DIRS}
+        PUBLIC px4_gz_msgs
+    )
+
+    add_dependencies(${PROJECT_NAME} OpticalFlow)
+
+endif()
diff --git a/src/modules/simulation/gz_plugins/Kconfig b/src/modules/simulation/gz_plugins/Kconfig
new file mode 100644
index 0000000000..eae335fbc5
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/Kconfig
@@ -0,0 +1,6 @@
+menuconfig MODULES_SIMULATION_GZ_PLUGINS
+	bool "gz_plugins"
+	default n
+	depends on PLATFORM_POSIX && MODULES_SIMULATION_GZ_MSGS
+	---help---
+		Enable support for gz_plugins
diff --git a/src/modules/simulation/gz_plugins/OpticalFlowSensor.cpp b/src/modules/simulation/gz_plugins/OpticalFlowSensor.cpp
new file mode 100644
index 0000000000..4c0dac72d7
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/OpticalFlowSensor.cpp
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gz/common/Console.hh>
+#include <gz/msgs/Utility.hh>
+#include <gz/sensors/Util.hh>
+
+#include "OpticalFlowSensor.hpp"
+#include "opticalflow.pb.h"
+
+using namespace custom;
+
+bool OpticalFlowSensor::Load(const sdf::Sensor &_sdf)
+{
+	auto type = gz::sensors::customType(_sdf);
+
+	if ("optical_flow" != type) {
+		gzerr << "Trying to load [optical_flow] sensor, but got type [" << type << "] instead." << std::endl;
+		return false;
+	}
+
+	gz::sensors::Sensor::Load(_sdf);
+
+	std::string output_topic = this->Topic();
+	_publisher = _node.Advertise<px4::msgs::OpticalFlow>(output_topic);
+	gzdbg << "Advertising optical flow data on: " << output_topic << std::endl;
+
+	std::string camera_topic = output_topic;
+	size_t last_segment = camera_topic.rfind("/optical_flow/optical_flow");
+
+	if (last_segment != std::string::npos) {
+		camera_topic = camera_topic.substr(0, last_segment) + "/flow_camera/image";
+	}
+
+	int image_width = 0;
+	int image_height = 0;
+	int update_rate = 0;
+	float hfov = 0;
+
+	auto sensorElem = _sdf.Element()->GetParent()->GetElement("sensor");
+
+	while (sensorElem) {
+		if (sensorElem->Get<std::string>("name") == "flow_camera") {
+			auto cameraElem = sensorElem->GetElement("camera");
+			update_rate = sensorElem->GetElement("update_rate")->Get<int>();
+			hfov = cameraElem->GetElement("horizontal_fov")->Get<double>();
+
+			auto imageElem = cameraElem->GetElement("image");
+			image_width = imageElem->GetElement("width")->Get<int>();
+			image_height = imageElem->GetElement("height")->Get<int>();
+			break;
+		}
+
+		sensorElem = sensorElem->GetNextElement("sensor");
+	}
+
+	gzdbg << "Camera parameters:" << std::endl
+	      << "  image_width: " << image_width << std::endl
+	      << "  image_height: " << image_height << std::endl
+	      << "  update_rate: " << update_rate << std::endl
+	      << "  hfov: " << hfov << std::endl;
+
+	gzdbg << "Subscribing to camera topic for flow: " << camera_topic << std::endl;
+
+	if (!_node.Subscribe(camera_topic, &OpticalFlowSensor::OnImage, this)) {
+		gzerr << "Failed to subscribe to camera topic: " << camera_topic << std::endl;
+		return false;
+	}
+
+	// Assume pinhole camera and 1:1 aspect ratio
+	float focal_length = (image_width / 2.0f) / tan(hfov / 2.0f);
+	_optical_flow = std::make_shared<OpticalFlowOpenCV>(focal_length, focal_length,
+			update_rate, image_width, image_height);
+
+	return true;
+}
+
+void OpticalFlowSensor::OnImage(const gz::msgs::Image &image_msg)
+{
+	if (image_msg.width() == 0 || image_msg.height() == 0) {
+		gzerr << "Invalid image dimensions" << std::endl;
+		return;
+	}
+
+	if (image_msg.pixel_format_type() == gz::msgs::PixelFormatType::RGB_INT8) {
+		cv::Mat temp(image_msg.height(), image_msg.width(), CV_8UC3);
+		std::memcpy(temp.data, image_msg.data().c_str(), image_msg.data().size());
+		cv::cvtColor(temp, _last_image_gray, cv::COLOR_RGB2GRAY);
+
+	} else if (image_msg.pixel_format_type() == gz::msgs::PixelFormatType::L_INT8) {
+		std::memcpy(_last_image_gray.data, image_msg.data().c_str(), image_msg.data().size());
+
+	} else {
+		gzerr << "Unsupported image format" << std::endl;
+		return;
+	}
+
+	uint32_t current_timestamp = (image_msg.header().stamp().sec() * 1000000ULL +
+				      image_msg.header().stamp().nsec() / 1000ULL) & 0xFFFFFFFF;
+
+	if (_last_image_timestamp != 0) {
+		_integration_time_us = (current_timestamp - _last_image_timestamp) & 0xFFFFFFFF;
+	}
+
+	_last_image_timestamp = current_timestamp;
+	_new_image_available = true;
+}
+
+bool OpticalFlowSensor::Update(const std::chrono::steady_clock::duration &_now)
+{
+	if (!_new_image_available) {
+		return true;
+	}
+
+	px4::msgs::OpticalFlow msg;
+	msg.set_time_usec(_last_image_timestamp);
+
+	float flow_x = 0.f;
+	float flow_y = 0.f;
+
+	int quality = _optical_flow->calcFlow(_last_image_gray.data, _last_image_timestamp,
+					      _integration_time_us, flow_x, flow_y);
+
+	msg.set_integrated_x(flow_x);
+	msg.set_integrated_y(flow_y);
+	msg.set_integration_time_us(_integration_time_us);
+	msg.set_quality(quality);
+
+	if (!_publisher.Publish(msg)) {
+		gzwarn << "Failed to publish optical flow message" << std::endl;
+	}
+
+	_new_image_available = false;
+	return true;
+}
diff --git a/src/modules/simulation/gz_plugins/OpticalFlowSensor.hpp b/src/modules/simulation/gz_plugins/OpticalFlowSensor.hpp
new file mode 100644
index 0000000000..497fd79276
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/OpticalFlowSensor.hpp
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <gz/sensors/Sensor.hh>
+#include <gz/sensors/CameraSensor.hh>
+#include <gz/sensors/SensorTypes.hh>
+#include <gz/transport/Node.hh>
+#include <gz/msgs/image.pb.h>
+#include <opencv2/opencv.hpp>
+#include <numeric>
+#include <vector>
+#include <memory>
+
+#include "flow_opencv.hpp"
+
+namespace custom
+{
+class OpticalFlowSensor : public gz::sensors::Sensor
+{
+public:
+	virtual bool Load(const sdf::Sensor &_sdf) override;
+	virtual bool Update(const std::chrono::steady_clock::duration &_now) override;
+
+private:
+	void OnImage(const gz::msgs::Image &_msg);
+
+	gz::transport::Node _node;
+	gz::transport::Node::Publisher _publisher;
+
+	// Flow
+	std::shared_ptr<OpticalFlowOpenCV> _optical_flow {nullptr};
+	int _integration_time_us;
+
+	// Camera
+	double _horizontal_fov {0.0};
+	double _vertical_fov {0.0};
+
+	cv::Mat _last_image_gray;
+	uint32_t _last_image_timestamp {0};
+	bool _new_image_available {false};
+};
+
+} // end namespace custom
diff --git a/src/modules/simulation/gz_plugins/OpticalFlowSystem.cpp b/src/modules/simulation/gz_plugins/OpticalFlowSystem.cpp
new file mode 100644
index 0000000000..3459f8a386
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/OpticalFlowSystem.cpp
@@ -0,0 +1,125 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <string>
+#include <unordered_map>
+#include <utility>
+
+#include <gz/plugin/Register.hh>
+#include <gz/sensors/SensorFactory.hh>
+#include <sdf/Sensor.hh>
+
+#include <gz/sim/components/CustomSensor.hh>
+#include <gz/sim/components/Name.hh>
+#include <gz/sim/components/ParentEntity.hh>
+#include <gz/sim/components/Sensor.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/Util.hh>
+
+#include "OpticalFlowSensor.hpp"
+#include "OpticalFlowSystem.hpp"
+
+using namespace custom;
+
+void OpticalFlowSystem::PreUpdate(const gz::sim::UpdateInfo &, gz::sim::EntityComponentManager &_ecm)
+{
+	// Register each new custom sensor
+	_ecm.EachNew<gz::sim::components::CustomSensor, gz::sim::components::ParentEntity>(
+		[&](const gz::sim::Entity & _entity,
+		    const gz::sim::components::CustomSensor * _custom,
+	const gz::sim::components::ParentEntity * _parent)->bool {
+		auto sensorScopedName = gz::sim::removeParentScope(gz::sim::scopedName(_entity, _ecm, "::", false), "::");
+
+		sdf::Sensor data = _custom->Data();
+		data.SetName(sensorScopedName);
+
+		if (data.Topic().empty())
+		{
+			std::string topic = scopedName(_entity, _ecm) + "/optical_flow";
+			data.SetTopic(topic);
+		}
+
+		gz::sensors::SensorFactory sensorFactory;
+		auto sensor = sensorFactory.CreateSensor<custom::OpticalFlowSensor>(data);
+
+		if (sensor == nullptr)
+		{
+			gzerr << "Failed to create optical flow sensor [" << sensorScopedName << "]" << std::endl;
+			return false;
+		}
+
+		auto parentName = _ecm.Component<gz::sim::components::Name>(_parent->Data())->Data();
+
+		sensor->SetParent(parentName);
+
+		_ecm.CreateComponent(_entity, gz::sim::components::SensorTopic(sensor->Topic()));
+
+		this->entitySensorMap.insert(std::make_pair(_entity, std::move(sensor)));
+
+		gzdbg << "OpticalFlowSystem PreUpdate" << std::endl;
+
+		return true;
+	});
+}
+
+void OpticalFlowSystem::PostUpdate(const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm)
+{
+	if (!_info.paused) {
+		for (auto &[entity, sensor] : this->entitySensorMap) {
+			sensor->Update(_info.simTime);
+		}
+	}
+
+	this->RemoveSensorEntities(_ecm);
+}
+
+void OpticalFlowSystem::RemoveSensorEntities(const gz::sim::EntityComponentManager &_ecm)
+{
+	_ecm.EachRemoved<gz::sim::components::CustomSensor>(
+		[&](const gz::sim::Entity & _entity,
+	const gz::sim::components::CustomSensor *)->bool {
+		if (this->entitySensorMap.erase(_entity) == 0)
+		{
+			gzerr << "Internal error, missing optical flow sensor for entity ["
+			      << _entity << "]" << std::endl;
+		}
+		return true;
+	});
+}
+
+GZ_ADD_PLUGIN(OpticalFlowSystem, gz::sim::System,
+	      OpticalFlowSystem::ISystemPreUpdate,
+	      OpticalFlowSystem::ISystemPostUpdate
+	     )
+
+GZ_ADD_PLUGIN_ALIAS(OpticalFlowSystem, "custom::OpticalFlowSystem")
diff --git a/src/modules/simulation/gz_plugins/OpticalFlowSystem.hpp b/src/modules/simulation/gz_plugins/OpticalFlowSystem.hpp
new file mode 100644
index 0000000000..eecaaa2f6f
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/OpticalFlowSystem.hpp
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <gz/sim/System.hh>
+#include <gz/sensors/Sensor.hh>
+#include <gz/transport/Node.hh>
+
+namespace custom
+{
+class OpticalFlowSystem:
+	public gz::sim::System,
+	public gz::sim::ISystemPreUpdate,
+	public gz::sim::ISystemPostUpdate
+{
+public:
+	void PreUpdate(const gz::sim::UpdateInfo &_info,
+		       gz::sim::EntityComponentManager &_ecm) final;
+
+	void PostUpdate(const gz::sim::UpdateInfo &_info,
+			const gz::sim::EntityComponentManager &_ecm) final;
+
+private:
+	void RemoveSensorEntities(const gz::sim::EntityComponentManager &_ecm);
+
+	std::unordered_map<gz::sim::Entity, std::shared_ptr<OpticalFlowSensor>> entitySensorMap;
+};
+} // end namespace custom
diff --git a/src/modules/simulation/gz_plugins/optical_flow.cmake b/src/modules/simulation/gz_plugins/optical_flow.cmake
new file mode 100644
index 0000000000..8ac1c1f649
--- /dev/null
+++ b/src/modules/simulation/gz_plugins/optical_flow.cmake
@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include(ExternalProject)
+find_package(OpenCV REQUIRED)
+
+if(NOT TARGET OpticalFlow)
+    ExternalProject_Add(OpticalFlow
+        GIT_REPOSITORY https://github.com/PX4/PX4-OpticalFlow.git
+        GIT_TAG master
+        PREFIX ${CMAKE_BINARY_DIR}/OpticalFlow
+        INSTALL_DIR ${CMAKE_BINARY_DIR}/OpticalFlow/install
+        CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
+        BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/OpticalFlow/install/lib/libOpticalFlow.so
+        UPDATE_DISCONNECTED ON
+        BUILD_ALWAYS OFF
+        STEP_TARGETS build
+    )
+
+    ExternalProject_Get_Property(OpticalFlow install_dir)
+    set(OpticalFlow_INCLUDE_DIRS ${install_dir}/include CACHE INTERNAL "")
+    set(OpticalFlow_LIBS ${install_dir}/lib/libOpticalFlow.so CACHE INTERNAL "")
+endif()