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).

Information about SITL models

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.