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:

Hovering – ROS communication network

Although, in the preceding screenshot, Gazebo is only shown as one ROS ...

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