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For Melodic, I think you want to look at MAVROS

https://docs.px4.io/v1.12/en/ros/mavros_installation.html

http://wiki.ros.org/mavros

If I recall correctly, that will let you get a Mavlink to ROS topic bridge that you should then be able to bridge to Gazebo.

For Melodic, I think you want to look at MAVROS

https://docs.px4.io/v1.12/en/ros/mavros_installation.html

http://wiki.ros.org/mavros

~~If I recall correctly, that will let you get a Mavlink to ROS topic bridge that you should then be able to bridge to Gazebo.~~

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