mavros-scripts

Setup

1. run roscore.
2. run sim_vehicle.py -v ArduCopter -f gazebo-iris -m --mav10 --map --console -I0 to set up the simulator. I chose Arducoptor as vehicle and used the iris drone. It also opens up MAVProxy console and a map.
3. run gazebo --verbose iris_ardupilot.world to set up the physical environment (Gazebo) in which the simulator works.
4. run roslaunch mavros apm.launch fcu_url:="udp://127.0.0.1:14551@14555" to start MAVROS.

Deploying Scripts

1. open up QGroundControl and takeoff to hold position.
2. run the .py executable