Current state of GAZEBO simulations? Problems with current branch

ArduCopter Copter Simulation
1

What’s the current state of Gazebo simulation?

I have built this branch of gazebo: https://bitbucket.org/osrf/gazebo/branch/ardupilot_merge_gazebo8

and I was able to connect using:
gazebo worlds/iris_arducopter_demo.world
and frame:
sim_vehicle.py -f gazebo-iris

but copter crashes immediately after taking off (using guided mode or loiter). What’s wrong? How to run this plugin?

2

I’m using this one currently with some success: https://github.com/SwiftGust/ardupilot_gazebo

Edit: Seems like it is merged now as well in 8.0.