I followed the instructions from your tutorial but I have some errors when I am running the command 'catkin_make' to generate the plugins.
I am running under Ubuntu 16.04, ROS kinetic and Gazebo 7.9
[ 79%] Building CXX object ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/src/rover/ardupilot_sitl_gazebo_plugin.cpp.o
In file included from /home/katawan/catkin_ws/src/ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/src/rover/ardupilot_sitl_gazebo_plugin.cpp:26:0:
/home/katawan/catkin_ws/src/ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/include/../include/ardupilot_sitl_gazebo_plugin/rover/ardupilot_sitl_gazebo_plugin.h:73:59: fatal error: ardupilot_sitl_gazebo_plugin/TakeApmLapseLock.h: No such file or directory
ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/build.make:62: recipe for target 'ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/src/rover/ardupilot_sitl_gazebo_plugin.cpp.o' failed
make: *** [ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/src/rover/ardupilot_sitl_gazebo_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:11699: recipe for target 'ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/all' failed
make: *** [ardupilot_sitl_gazebo_plugin/ardupilot_sitl_gazebo_plugin/CMakeFiles/ardupilot_sitl_gazebo_plugin_rover.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed
I also tried to build from the plugin of Aurelien Roy, but I finish with the same error... I already try to update the repertory of ardupilot plugin as proposed in another topic on this forum but it didn't fix my problem. The plugins seems to be a little old and I didn't see any other solution to implement Ardupilot in Gazebo and add sensor properly except here, but for my understanding, using ROS gives way more possibility of futur implementation so I would prefer to work with it. My goal is only to have a laser facing downwards in Gazebo to test some "ground following" with ArduCopter. Iif you have any suggestions of implementation of Ardupilot in Gazebo with the possibility to add sensor I would be glad to hear it !
Thank you for your help !