MRS uav_system with Ardupilot Gazebo simulation

[Pallav1299]

Hi, thanks for sharing your work.

I want to setup MRS system with ardupilot in Gazebo simulation. MRS gazebo simulation setup with PX4 is very generic and seems to be tightly coupled.

I tried to get it working with Ardupilot Gazebo SITL and mavros, by disabling gazebo, mavros and drone_spawner from MRS. This was all based on the assumption that if mavros interface is same in PX4 and Ardupilot, the mrs_hw_px4_api would let mrs_system and Ardupilot gazebo SITL communicate over mavros.

I'm fairly new to MRS system. @klaxalk, If there's something fundamentally wrong with this, do let me know.

Although this ISSUE is similar, can you suggest the easiest way to go about doing this?

Thanks