Hello everyone. And thank you for taking the time to read my question. I am trying to simualte the flight of a quadrotor in an indoor environment using MATLAB and ROS. How can I generate a 3D visualization of the quadrotor flight through ROS? and how can I have a range sensor publish values to MATLAB. I have set-up a complete simulation for a quadrotor in MATLAB, the simulation gives all the required states to display the position, velocity, and orientation of the quadrotor. I have also setup IPC_Bridge to publish/subscribe the MATLAB simulation with ROS. My question is how can I setup a 3D environment in ROS to publish range sensor data from a sensor on the quadrotor to the MATLAB simulation. And what should I use to visualize the quadrotor flight? Can I use gazebo? I am still new to ROS and since I have all the physics/dynamics setup in MATLAB how could that work?

Thank you for your time.