I just want to use a drone simulator in a robot simulating environment like ROS Gazebo, to test PRM motion planning algorithm on that drone.

I read that in order to implement PRM algo, I can directly do it by using OMPL(Open Motion Planning Library) which comes with MoveIt and so I installed MoveIt I installed ROS Gazebo because I would want a robot simulating environment. But now I am stuck at the point that I do not understand which robot simulator should I use. I found about Mavlink and MavROS. I read about ROS industrials but I am not sure what to use. I still cannot figure out how to link all of these frameworks to get a drone that runs a PRM algo.

This is one link that I stumbled upon. https://www.quora.com/How-can-I-implement-a-PRM-probabilistic-road-map-motion-planning-algorithm-in-ROS-Gazebo

Thanks in advance!