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Gazebo Ardupilot interface for Husky rover not working properly


So I installed husky rover simulation with the instructions given here link text. I am also using Ardupilot and using the Github repo from SwiftGust link text. However when I run the ardupilot for rover and Gazebo husky simultaneously, and give a point for the rover to move towards, it moves in a very curvy manner instead of moving along a straight line. Im not sure if related but I also get the error

Failed to load plugin

What is the fix for this?