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The most common ros-gazebo quadrotor simulator package is rotors which offer a simulated AR-drone (among others).

You can also look at hector_quadrotor

If your project is not simulation only and you plan on flying using ROS later, you should give a look at rosflight.

I think that your best shot to fly using high level commands in a few days is using RotorS. However, fully understanding the package would take you weeks.