I had a customized iris model with depth camera and 2D LIDAR sensors, and I can confirm that I am able to simulate it in Gazebo with ROS interface. I followed steps similar to ones in the issue linked above and I summarize it here.
- I copied the customized model to
Firmware/Tools/sitl_gazebo/models/<model_name> - Created a startup file in
Firmware/ROMFS/px4fmu_common/init.d-posix/xxxx_<model_name>.xxxxis a unique ID that does not start with 0’s (e.g. 10017_<model_name>) - Build SITL
make px4_sitl gazebo roslaunch px4 posix_sitl.launch vehicle:=<model_name>