NovoG93/sjtu_drone — reverse-engineered prompt

Build me a ROS 2 Gazebo quadcopter simulator that I can run on Ubuntu 22.04, with an easy source install and a Docker option too. I want to launch a simple world, spawn one drone, open a teleop window and rviz, then control the drone with ROS topics so I can make it take off, move around, hover, land, and reset.

Please include the basic onboard sensors and publish their data, like front and bottom cameras, sonar, IMU, GPS, and joint states, plus ground truth pose, velocity, and acceleration. I also want the usual control topics for cmd_vel, takeoff, land, position control on or off, and velocity mode switching. Make the drone controller configurable with sensible PID style parameters for roll, pitch, yaw, position, velocity, force, and optional motion noise.

If possible, include a playground world, clear launch commands, and a quick README so I can get from clone to flying fast. Look up current ROS 2 and Gazebo docs online if you need to.