  Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of
multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown
in popularity for both research and education. However, due to the complex
hardware setup, safety precautions, and battery constraints, extensive physical
testing can be expensive and time-consuming. As an alternative solution,
simulation tools lower the barrier to carry out the algorithm testing and
validation before field trials. In this letter, we customize the ROS-Gazebo-PX4
simulator in deep and provide an end-to-end simulation solution for the UAV
v-SLAM and navigation study. A set of localization, mapping, and path planning
kits were also integrated into the simulation platform. In our simulation,
various aspects, including complex environments and onboard sensors, can
simultaneously interact with our navigation framework to achieve specific
surveillance missions. In this end-to-end simulation, we achieved click and fly
level autonomy UAV navigation. The source code is open to the research
community.
