GZ Standalone?

Hi guys,

Thanks for all the work you've done on this, just a quick question about PX4 and Gazebo.

In the current setup, are you running a separate gazebo instance per drone (within a container)?
And is gazebo meant to open when you run the sitl docker?

Just wondering if you've had a go at using the PX4_GZ_STANDALONE and running this simulation-gazebo script separately.
(referring to: https://docs.px4.io/main/en/sim_gazebo_gz/#usage-configuration-options)

I'm looking to have the drones flying around in a custom gazebo environment if possible! Seeing whether I can use the px4_sitl's or whether I should just use the normal aerostack gazebo project for now.

---- edit

extending this, do you think there is a way to mirror your as2_gazebo interface so that the PX4 SITLs can move around the same environment with some loaded obstacles and objects. (Probably going to need some Docker trickery if I understand correctly)...