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Spawn hector quadrotor in custom gazebo world.

I created a custom world using model editor in gazebo4, as shown below.

image description

I was trying to run a fun project where I can fly the quadrotor model through the rings, using vision based algorithm and solution. Thus, I came across hector quadrotor and wanted to use the robot model in this world.

This command can spawn the quadrotor into an empty world

    roslaunch gazebo_ros empty_world.launch

but this requires to have gazebo_ros. and that would remove gazebo4 and this world I created. Can I spawn the hector quadrotor directly into this world of gazebo4?