How to arm or set quadcopter (Iris+) mode while running ArduCopter SITL with ROS/Gazebo?

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In this simulation there are two node interacting with APM simulation:

1. arducopter_sitl_ros — handles simulation loops (data streams from gazebo and autopilot actuator responses)
2. mavros_node — interacts with telemetry channel and provide some kind of API for other nodes. That part may be used with real drone.

Mavros supports most of APM features, and enough to fly autonomy with users planner/controller node. But you have to look at mavros wiki page, where i tried to write documentation for each plugin (module).

rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c GUIDED
rosrun mavros mavcmd takeoffcur 0 0 5.0

This scripts is useful examples on how to use various plugins ROS-API. And little more handy that standard rosservice call.