diff --git a/px4_setup/CMakeLists.txt b/px4_setup/CMakeLists.txt
new file mode 100644
index 0000000..22d7e44
--- /dev/null
+++ b/px4_setup/CMakeLists.txt
@@ -0,0 +1,553 @@
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+cmake_policy(SET CMP0042 NEW)
+cmake_policy(SET CMP0048 NEW)
+cmake_policy(SET CMP0054 NEW)
+
+if (NOT CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "install prefix" FORCE)
+endif()
+
+message(STATUS "install-prefix: ${CMAKE_INSTALL_PREFIX}")
+
+# CMake build type (Debug Release RelWithDebInfo MinSizeRel)
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE "RelWithDebInfo")
+  set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build type" FORCE)
+endif()
+
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
+message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
+
+project(mavlink_sitl_gazebo VERSION 1.0.0)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
+
+# Set c++11 or higher
+include(EnableC++XX)
+# Set c11
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+include(ccache)
+include(GNUInstallDirs)
+
+#######################
+## Find Dependencies ##
+#######################
+
+option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" ON)
+option(BUILD_ROS_PLUGINS "Enable building ROS dependent plugins" OFF)
+option(GENERATE_ROS_MODELS "Generate model sdf for ROS environment" OFF)
+
+option(SEND_VISION_ESTIMATION_DATA "Send Mavlink VISION_POSITION_ESTIMATE msgs" OFF)
+option(SEND_ODOMETRY_DATA "Send Mavlink ODOMETRY msgs" OFF)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
+find_package(gazebo REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_search_module(GLIB REQUIRED glib-2.0)
+# Note: If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3 REQUIRED)
+else()
+	find_package(roscpp REQUIRED)
+	message(STATUS "${roscpp_version}")
+	if(${roscpp_VERSION}  VERSION_LESS "1.15.0")
+		find_package(PythonInterp REQUIRED)
+	else()
+		find_package(PythonInterp 3 REQUIRED)
+	endif()
+endif()
+find_package(OpenCV REQUIRED)
+find_package(TinyXML REQUIRED)
+if (BUILD_GSTREAMER_PLUGIN)
+  set(GStreamer_FIND_VERSION "1.0")
+  find_package(GStreamer REQUIRED)
+  # GStreamer requires ICU on Mac OS
+  if (APPLE)
+    set(ENV{PKG_CONFIG_PATH} "/usr/local/opt/icu4c/lib/pkgconfig")
+    pkg_search_module(ICU_UC icu-uc)
+  endif()
+  if (GSTREAMER_FOUND)
+    if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
+      find_package (Qt4)
+      include (${QT_USE_FILE})
+    else()
+      # In order to find Qt5 in macOS, the Qt5 path needs to be added to the CMake prefix path.
+      if(APPLE)
+        execute_process(COMMAND brew --prefix qt5
+                        ERROR_QUIET
+                        OUTPUT_VARIABLE QT5_PREFIX_PATH
+                        OUTPUT_STRIP_TRAILING_WHITESPACE
+                       )
+        list(APPEND CMAKE_PREFIX_PATH "${QT5_PREFIX_PATH}/lib/cmake")
+      endif()
+      find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
+    endif()
+  endif()
+endif()
+
+pkg_check_modules(OGRE OGRE)
+
+if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
+  include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})
+else()
+  include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS})
+endif()
+
+link_directories(${GAZEBO_LIBRARY_DIRS})
+
+add_subdirectory( external/OpticalFlow OpticalFlow )
+set( OpticalFlow_LIBS "OpticalFlow" )
+
+# for ROS subscribers and publishers
+if (BUILD_ROS_PLUGINS)
+  find_package(geometry_msgs REQUIRED)
+  find_package(roscpp REQUIRED)
+  find_package(sensor_msgs REQUIRED)
+endif()
+
+# find MAVLink
+find_package(MAVLink)
+
+# see if catkin was invoked to build this
+if (CATKIN_DEVEL_PREFIX)
+  message(STATUS "catkin ENABLED")
+  find_package(catkin REQUIRED)
+  if (catkin_FOUND)
+    catkin_package()
+  else()
+    message(FATAL_ERROR "catkin not found")
+  endif()
+else()
+  message(STATUS "catkin DISABLED")
+endif()
+
+# XXX this approach is extremely error prone
+# it would be preferable to either depend on the
+# compiled headers from Gazebo directly
+# or to have something entirely independent.
+#
+set(PROTOBUF_IMPORT_DIRS "")
+foreach(ITR ${GAZEBO_INCLUDE_DIRS})
+  if(ITR MATCHES ".*gazebo-[0-9.]+$")
+    set(PROTOBUF_IMPORT_DIRS "${ITR}/gazebo/msgs/proto")
+  endif()
+endforeach()
+
+# PROTOBUF_IMPORT_DIRS has to be set before
+# find_package is called
+find_package(Protobuf REQUIRED)
+pkg_check_modules(PROTOBUF protobuf)
+
+if ("${PROTOBUF_VERSION}" VERSION_LESS "2.5.0")
+  message(FATAL_ERROR "protobuf version: ${PROTOBUF_VERSION} not compatible, must be >= 2.5.0")
+endif()
+
+if("${GAZEBO_VERSION}" VERSION_LESS "6.0")
+  message(FATAL_ERROR "You need at least Gazebo 6.0. Your version: ${GAZEBO_VERSION}")
+else()
+  message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
+endif()
+
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(Eigen QUIET)
+  if(NOT EIGEN_FOUND)
+    pkg_check_modules(EIGEN3 REQUIRED eigen3)
+  else()
+    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+  endif()
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
+###########
+## Build ##
+###########
+
+add_compile_options(-Wno-deprecated-declarations -Wno-address-of-packed-member)
+
+set(GAZEBO_MSG_INCLUDE_DIRS)
+foreach(ITR ${GAZEBO_INCLUDE_DIRS})
+  if(ITR MATCHES ".*gazebo-[0-9.]+$")
+    set(GAZEBO_MSG_INCLUDE_DIRS "${ITR}/gazebo/msgs")
+  endif()
+endforeach()
+
+include_directories(
+  include
+  ${Boost_INCLUDE_DIR}
+  ${CMAKE_CURRENT_BINARY_DIR}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}/eigen3	# Workaround for Eigen3
+  ${GAZEBO_INCLUDE_DIRS}
+  ${GAZEBO_MSG_INCLUDE_DIRS}
+  ${MAVLINK_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}
+  ${OGRE_INCLUDE_DIRS}/Paging		# Workaround for "fatal error: OgrePagedWorldSection.h: No such file or directory"
+  ${OpenCV_INCLUDE_DIRS}
+  ${OpticalFlow_INCLUDE_DIRS}
+  ${TinyXML_INCLUDE_DIRS}
+  )
+
+if (GSTREAMER_FOUND)
+  include_directories(
+    ${GSTREAMER_INCLUDE_DIRS}
+    ${GSTREAMER_APP_INCLUDE_DIRS}
+  )
+endif()
+
+link_libraries(
+  ${Boost_SYSTEM_LIBRARY_RELEASE}
+  ${Boost_THREAD_LIBRARY_RELEASE}
+  ${Boost_TIMER_LIBRARY_RELEASE}
+  ${GAZEBO_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+  )
+
+if (GSTREAMER_FOUND)
+  link_libraries(
+    ${GSTREAMER_LIBRARIES}
+    ${GSTREAMER_APP_LIBRARIES}
+    ${GLIB_LDFLAGS}
+    gobject-2.0
+  )
+
+  if (APPLE)
+    link_libraries(
+      ${ICU_UC_LDFLAGS}
+    )
+  endif()
+endif()
+
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+  ${CMAKE_CURRENT_BINARY_DIR}
+  ${OGRE_LIBRARY_DIRS}
+  )
+
+#--------------------------#
+# Generation of SDF models #
+#--------------------------#
+
+set(enable_mavlink_interface "true")
+set(enable_ground_truth "false")
+set(enable_logging "false")
+set(enable_camera "false")
+set(enable_wind "false")
+set(scripts_dir "${CMAKE_CURRENT_SOURCE_DIR}/scripts")
+# set the vision estimation to be sent if set by the CMake option SEND_VISION_ESTIMATION_DATA
+set(send_vision_estimation "false")
+if (SEND_VISION_ESTIMATION_DATA)
+  set(send_vision_estimation "true")
+endif()
+
+# if SEND_ODOMETRY_DATA option is set, then full odometry data is sent instead of
+# only the visual pose estimate
+set(send_odometry "false")
+if (SEND_ODOMETRY_DATA)
+  set(send_odometry "true")
+  set(send_vision_estimation "false")
+endif()
+
+#-----------#
+# Functions #
+#-----------#
+
+function(glob_generate target file_glob)
+  file(READ .gitignore gitignore_content)
+  file(GLOB_RECURSE glob_files RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${file_glob})
+	set(gen_files)
+	foreach(glob_file ${glob_files})
+		string(REGEX REPLACE "\\.[^.]*$" "" file_name ${glob_file})
+		string(REGEX MATCH "[^.]*$" file_ext ${glob_file})
+		get_filename_component(file_dir ${glob_file} DIRECTORY)
+		set(in_file ${CMAKE_CURRENT_SOURCE_DIR}/${glob_file})
+		file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${file_dir})
+		set(out_file ${CMAKE_CURRENT_SOURCE_DIR}/${file_name})
+		string(REGEX REPLACE ".sdf" ".sdf" out_file ${out_file})
+		if (${file_ext} STREQUAL "jinja")
+			if(GENERATE_ROS_MODELS)
+				add_custom_command(OUTPUT ${out_file}
+        	                	COMMAND
+                	                        ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR} --generate_ros_models true
+                        	        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
+                                	VERBATIM
+	                                )
+			else()
+				add_custom_command(OUTPUT ${out_file}
+	                                COMMAND
+        	                                ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR}
+                	                DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
+                        	        VERBATIM
+	                                COMMAND
+        	                                ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf} ${CMAKE_CURRENT_SOURCE_DIR}
+                	                DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py models/spiri_with_tether/spiri_with_tether.sdf
+                        	        VERBATIM
+                                	)
+			endif()
+			list(APPEND gen_files_${target} ${out_file})
+			string(REGEX REPLACE "${CMAKE_CURRENT_SOURCE_DIR}/" "" gitignore_str ${in_file})
+			string(REGEX REPLACE ".jinja" "" gitignore_str ${gitignore_str})
+			string(FIND ${gitignore_content} ${gitignore_str} gitignore_substr)
+			if(${gitignore_substr} EQUAL -1)
+				file(APPEND .gitignore ${gitignore_str} "\n")
+			endif()
+		endif()
+	endforeach()
+	add_custom_target(${target} ALL DEPENDS ${gen_files_${target}})
+endfunction()
+
+glob_generate(models_gen ${CMAKE_CURRENT_SOURCE_DIR}/models/*.jinja)
+
+#--------------------#
+# Message Generation #
+#--------------------#
+
+set(mav_msgs
+  msgs/CommandMotorSpeed.proto
+  msgs/MotorSpeed.proto
+  )
+set(nav_msgs msgs/Odometry.proto)
+set(physics_msgs
+    msgs/Force.proto
+    msgs/Wind.proto
+    )
+set(std_msgs msgs/Int32.proto)
+set(sensor_msgs
+  msgs/Airspeed.proto
+  msgs/Imu.proto
+  msgs/IRLock.proto
+  msgs/Float.proto
+  msgs/Groundtruth.proto
+  msgs/Range.proto
+  msgs/SITLGps.proto
+  msgs/OpticalFlow.proto
+  msgs/MagneticField.proto
+  msgs/Pressure.proto
+  )
+
+PROTOBUF_GENERATE_CPP(MAV_PROTO_SRCS MAV_PROTO_HDRS ${mav_msgs})
+PROTOBUF_GENERATE_CPP(NAV_PROTO_SRCS NAV_PROTO_HDRS ${nav_msgs})
+PROTOBUF_GENERATE_CPP(PHY_PROTO_SRCS PHY_PROTO_HDRS ${physics_msgs})
+PROTOBUF_GENERATE_CPP(STD_PROTO_SRCS STD_PROTO_HDRS ${std_msgs})
+PROTOBUF_GENERATE_CPP(SEN_PROTO_SRCS SEN_PROTO_HDRS ${sensor_msgs})
+
+add_library(mav_msgs SHARED ${MAV_PROTO_SRCS})
+add_library(nav_msgs SHARED ${NAV_PROTO_SRCS})
+add_library(physics_msgs SHARED ${PHY_PROTO_SRCS})
+add_library(std_msgs SHARED ${STD_PROTO_SRCS})
+add_library(sensor_msgs SHARED ${SEN_PROTO_SRCS})
+
+#---------#
+# Plugins #
+#---------#
+
+link_libraries(mav_msgs nav_msgs std_msgs sensor_msgs)
+link_libraries(physics_msgs)
+
+add_library(gazebo_airspeed_plugin SHARED src/gazebo_airspeed_plugin.cpp)
+add_library(gazebo_camera_manager_plugin SHARED src/gazebo_camera_manager_plugin.cpp)
+add_library(gazebo_gps_plugin SHARED src/gazebo_gps_plugin.cpp)
+add_library(gazebo_groundtruth_plugin SHARED src/gazebo_groundtruth_plugin.cpp)
+add_library(gazebo_irlock_plugin SHARED src/gazebo_irlock_plugin.cpp)
+add_library(gazebo_lidar_plugin SHARED src/gazebo_lidar_plugin.cpp)
+add_library(gazebo_opticalflow_mockup_plugin SHARED src/gazebo_opticalflow_mockup_plugin.cpp)
+add_library(gazebo_opticalflow_plugin SHARED src/gazebo_opticalflow_plugin.cpp)
+add_library(gazebo_sonar_plugin SHARED src/gazebo_sonar_plugin.cpp)
+add_library(gazebo_uuv_plugin SHARED src/gazebo_uuv_plugin.cpp)
+add_library(gazebo_vision_plugin SHARED src/gazebo_vision_plugin.cpp)
+add_library(gazebo_controller_interface SHARED src/gazebo_controller_interface.cpp)
+add_library(gazebo_gimbal_controller_plugin SHARED src/gazebo_gimbal_controller_plugin.cpp)
+add_library(gazebo_imu_plugin SHARED src/gazebo_imu_plugin.cpp)
+add_library(gazebo_mavlink_interface SHARED src/gazebo_mavlink_interface.cpp src/mavlink_interface.cpp)
+add_library(gazebo_motor_model SHARED src/gazebo_motor_model.cpp)
+add_library(gazebo_multirotor_base_plugin SHARED src/gazebo_multirotor_base_plugin.cpp)
+add_library(gazebo_wind_plugin SHARED src/gazebo_wind_plugin.cpp)
+add_library(gazebo_magnetometer_plugin SHARED src/gazebo_magnetometer_plugin.cpp src/geo_mag_declination.cpp)
+add_library(gazebo_barometer_plugin SHARED src/gazebo_barometer_plugin.cpp)
+add_library(gazebo_catapult_plugin SHARED src/gazebo_catapult_plugin.cpp)
+add_library(gazebo_usv_dynamics_plugin SHARED src/gazebo_usv_dynamics_plugin.cpp)
+add_library(gazebo_parachute_plugin SHARED src/gazebo_parachute_plugin.cpp)
+add_library(gazebo_airship_dynamics_plugin SHARED src/gazebo_airship_dynamics_plugin.cpp)
+add_library(gazebo_drop_plugin SHARED src/gazebo_drop_plugin.cpp)
+
+set(plugins
+  gazebo_airspeed_plugin
+  gazebo_camera_manager_plugin
+  gazebo_gps_plugin
+  gazebo_groundtruth_plugin
+  gazebo_irlock_plugin
+  gazebo_lidar_plugin
+  gazebo_opticalflow_mockup_plugin
+  gazebo_opticalflow_plugin
+  gazebo_sonar_plugin
+  gazebo_uuv_plugin
+  gazebo_vision_plugin
+  gazebo_controller_interface
+  gazebo_gimbal_controller_plugin
+  gazebo_imu_plugin
+  gazebo_mavlink_interface
+  gazebo_motor_model
+  gazebo_multirotor_base_plugin
+  gazebo_wind_plugin
+  gazebo_magnetometer_plugin
+  gazebo_barometer_plugin
+  gazebo_catapult_plugin
+  gazebo_usv_dynamics_plugin
+  gazebo_parachute_plugin
+  gazebo_airship_dynamics_plugin
+  gazebo_drop_plugin
+  )
+
+foreach(plugin ${plugins})
+  target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES})
+endforeach()
+target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
+
+# If BUILD_ROS_PLUGINS set to ON, build plugins that have ROS dependencies
+# Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin
+if (BUILD_ROS_PLUGINS)
+  add_library(gazebo_motor_failure_plugin SHARED src/gazebo_motor_failure_plugin.cpp)
+  target_link_libraries(gazebo_motor_failure_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})
+  list(APPEND plugins gazebo_motor_failure_plugin)
+  message(STATUS "adding gazebo_motor_failure_plugin to build")
+
+  include_directories(
+    include
+    ${geometry_msgs_INCLUDE_DIRS}
+    ${sensor_msgs_INCLUDE_DIRS}
+  )
+
+  target_link_libraries(gazebo_motor_failure_plugin
+    ${catkin_LIBRARIES}
+    ${roscpp_LIBRARIES}
+    ${GAZEBO_libraries}
+  )
+endif()
+
+if (GSTREAMER_FOUND)
+  add_library(gazebo_gst_camera_plugin SHARED src/gazebo_gst_camera_plugin.cpp)
+  set(plugins
+    ${plugins}
+    gazebo_gst_camera_plugin
+  )
+  message(STATUS "Found GStreamer: adding gst_camera_plugin")
+  if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
+    QT4_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
+    add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
+    target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${QT_LIBRARIES})
+    set(plugins
+      ${plugins}
+      gazebo_video_stream_widget
+    )
+    message(STATUS "Found GStreamer: adding gst_video_stream_widget")
+  else()
+    QT5_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
+    add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
+    target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
+    set(plugins
+      ${plugins}
+      gazebo_video_stream_widget
+    )
+    message(STATUS "Found GStreamer: adding gst_video_stream_widget")
+  endif()
+endif()
+
+QT5_WRAP_CPP(headers_MOC2 include/gazebo_user_camera_plugin.h)
+add_library(gazebo_user_camera_plugin SHARED ${headers_MOC2} src/gazebo_user_camera_plugin.cpp)
+target_link_libraries(gazebo_user_camera_plugin ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5Test_LIBRARIES})
+set(plugins
+  ${plugins}
+  gazebo_user_camera_plugin
+)
+
+# Linux is not consistent with plugin availability, even on Gazebo 7
+#if("${GAZEBO_VERSION}" VERSION_LESS "7.0")
+  add_library(LiftDragPlugin SHARED src/liftdrag_plugin/liftdrag_plugin.cpp)
+  list(APPEND plugins LiftDragPlugin)
+
+  add_library(ForceVisual SHARED src/force_visual/force_visual.cpp)
+  list(APPEND plugins ForceVisual)
+#endif()
+
+foreach(plugin ${plugins})
+  add_dependencies(${plugin} mav_msgs nav_msgs std_msgs sensor_msgs)
+  add_dependencies(${plugin} physics_msgs)
+endforeach()
+
+# Configure the setup script
+if (catkin_FOUND)
+  catkin_add_env_hooks(50_sitl_gazebo_setup
+    DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake
+    SHELLS sh)
+endif()
+
+
+################
+## Unit Tests ##
+################
+include(UnitTests)
+
+add_subdirectory(unit_tests)
+
+
+#############
+## Install ##
+#############
+
+set(PLUGIN_PATH ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/plugins)
+set(MODEL_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/models)
+set(RESOURCE_PATH ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
+
+file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/models/.DS_Store)
+file(GLOB models_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/models/*)
+
+file(REMOVE_RECURSE ${PROJECT_SOURCE_DIR}/worlds/.DS_Store)
+file(GLOB worlds_list LIST_DIRECTORIES true ${PROJECT_SOURCE_DIR}/worlds/*)
+
+install(TARGETS ${plugins} mav_msgs nav_msgs std_msgs sensor_msgs DESTINATION ${PLUGIN_PATH})
+install(DIRECTORY ${models_list} DESTINATION ${MODEL_PATH})
+install(FILES ${worlds_list} DESTINATION ${RESOURCE_PATH}/worlds)
+
+configure_file(src/setup.sh.in "${CMAKE_CURRENT_BINARY_DIR}/setup.sh" @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${RESOURCE_PATH})
+
+install(FILES ${PROJECT_SOURCE_DIR}/package.xml DESTINATION ${RESOURCE_PATH})
+
+#############
+## Testing ##
+#############
+
+# TODO
+
+###############
+## Packaging ##
+###############
+
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION})
+set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+set(CPACK_PACKAGE_CONTACT pxusers@googlegroups.com)
+set(DEBIAN_PACKAGE_DEPENDS "")
+set(RPM_PACKAGE_DEPENDS "")
+
+set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_PACKAGE_DEPENDS})
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "gazebo plugins for px4 sitl.")
+
+set(CPACK_RPM_PACKAGE_REQUIRES "${DEBIAN_PACKAGE_DEPENDS}")
+set(CPACK_RPM_PACKAGE_DESCRIPTION "Gazebo plugins for px4 sitl.")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${GAZEBO_MAJOR_VERSION}-${PROJECT_VERSION}")
+
+include(CPack)