Sphinx / Gazebo / ROS communication

Hello!

As far as I know, as Sphinx is based on Gazebo, I can connect and control the drone using ROS packages (eg. bebop_autonomy does it for Bebop 2). However, in order to get the model state for other models than the drone (i.e. pedestrians, cars, static objects…) I find no easy way to do it.

One usual way is to use Gazebo “topics”, which publishes information about all the models in the simulation environment. I know it’s possible to connect it to ROS, but only if Gazebo is launched through ROS (roslaunch).

Is there a way to launch Sphinx through Gazebo? Alternatively, if I include the fwman plugin in a Gazebo .world and launch it using Gazebo, would it work as if I use Sphinx?