to build

. ./b.sh

to run

. ./r.sh

to see on your mac -- on your mac run the following in a saperate terminal

. ./run_in_xpra

once you run the above you should see xterm pop on your your screen in the xterm you can type and run gazebo

on your mac

brew install xpra

Possible Errors

1. If you see an error containing CRYPTOGRAPHY_OPENSSL_NO_LEGACY try doing the following export CRYPTOGRAPHY_OPENSSL_NO_LEGACY=TRUE
2. Down grading xpra to 4.4.9,23 using brew brew edit xpra HOMEBREW_NO_INSTALL_FROM_API=1 brew reinstall xpra

Run Gazebo to launch drone world

gazebo --verbose ~/ardupilot_gazebo/worlds/iris_arducopter_runway.world

In another Terminal (Terminal 2), run SITL: cd ~/ardupilot/ArduCopter/ sim_vehicle.py -v ArduCopter -f gazebo-iris --console