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Adding ICAROUS messages to Simulator

Hello all,

I would like to add ICAROUS messages to the Gazebo simulator. https://nasa.github.io/icarous/setup.html

Any hints on how to start? What folder/files might need to be updated?

Thank you,
Paulo

I didn’t look too closely into what ICAROUS does, but I saw it mentioned arducopter, so maybe this is helpful to you: