The following command will start the simulation:
$ roslaunch rotors_gazebo mav_hovering_example.launch
In the following screenshot we can see the hex-rotor helicopter taking off after 5 seconds, and flying to the point P = (0,0,1):
In addition, the following diagram shows the ROS communication network, which gives an overview of all the ROS nodes that are running, and the topics on which the nodes are communicating:
Although, in the preceding screenshot, Gazebo is only shown as one ROS ...