riotu-lab/gps_denied_navigation_sim ? reverse-engineered prompt

Build me a ROS 2 based simulation package for testing GPS denied navigation on multirotor drones. I want to be able to spin up PX4 SITL with Gazebo, connect MAVROS, and launch a few ready to use scenarios for different drone setups like mono camera, stereo, twin stereo, and LiDAR variants. It should include a handful of outdoor terrain worlds plus one indoor warehouse style world, and open in RViz with useful default views.

The default run should use terrain matching localization with live diagnostics, but I also want hooks for trying other localization methods later. Please add simple launch commands or aliases so I can start common setups quickly, and make sure there is a way to log ground truth and compare estimated paths against it. I’d also like a small tool for recording synced sensor data and another one for calculating path error and exporting results to CSV. If anything depends on current docs or setup details, look them up online if needed.