Integration between Gazebo and Ardupilot SITL

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo. Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

Mick discoveries: When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.