From a few months ago (pre-pandemic times, if anyone can recall what that was like), I ported the ardupilot_gazebo plugin from Gazebo to Ignition and got it working with an Iris-style quadcopter:
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From a few months ago (pre-pandemic times, if anyone can recall what that was like), I ported the ardupilot_gazebo plugin from Gazebo to Ignition and got it working with an Iris-style quadcopter: