How to run HITL with simulator connected via UDP to flight controller ?

[MatCapLynx]

Hi, I'm triying to run HITL simulation with a pixhawk connected via USB to a companion computer. The problem is that this computer doesn't have a GUI. To run my simulator (Gazebo), I have to use another computer on the same network. Mavros runs on the companion computer.

This is exactly the case described on this note but I hav'nt been able to set it up.

I think this can be configured in my iris_hitl.sdf file :

<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace/>
      <imuSubTopic>/imu</imuSubTopic>
      <magSubTopic>/mag</magSubTopic>
      <baroSubTopic>/baro</baroSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_tcp_port>4560</mavlink_tcp_port>
      <mavlink_udp_port>14560</mavlink_udp_port>
      <serialEnabled>0</serialEnabled>
      <serialDevice>/dev/ttyACM0</serialDevice>
      <baudRate>921600</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <sdk_addr>INADDR_ANY</sdk_addr>
      <sdk_udp_port>14540</sdk_udp_port>
      <hil_mode>1</hil_mode>
      <hil_state_level>0</hil_state_level>
      <send_vision_estimation>0</send_vision_estimation>
      <send_odometry>1</send_odometry>
      <enable_lockstep>0</enable_lockstep>
      <use_tcp>0</use_tcp>

and also by setting the right fcu_url and gcu_url when launching mavros. I've tried a lot of different configurations without success. What is the correct network configuration for my case ?

[Jaeyoung-Lim]

@MatCapLynx Why do you need mavros for the HITL simulation?

[MatCapLynx]

I need it to get/send data to the Pixhawk. I have specific sensors that cannot be simulated but that are needed to run my tests.