Simple Drone Model in Gazebo Ros IDE

Hello Freelancers! I need you to implement a basic quadracopter model in the gazebo ros environment in order to: 1. Initially become more realistic using the meshes too. 2. Be able to move from the keyboard or the terminal with basic movements (Up-Down-Left-Right) 3. Be able to execute a motion by itself, predetermined motion In his idea can be used: Apply force, Plugins, Sensor Noise Model, Occupied event In the ATTACHED .rar file I have put the model I created which is functional, ie if you open it with the gazebo and put force on the 4 joints (r1, r2, r3, r4) then it rises from the ground with the help of some plugins. From there on, it's very important to make it move from the keyboard. If you find a predetermined motion it's a lot easier to create. In the .rar file, there is a .dae file I've downloaded from 3d warehouse and is an illustration of a drone that I have tried to put on my model, but I do something wrong. I mainly need the functionality. Thank you in advance! Happy bidding