ROS-based Simulator to practice in controlling Quadrotor with Radio Controller Device [closed]

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Dear ROS frinends:

Could you tell me that is there a ROS-based Simulator to practice in controlling "Quadrotor" with Radio Controller Device? I know some softwares just for helicopter!

I want to practise in controlling Quadrotor in the Simulator firstly, and then practise the real Quadrotor in the real world!!

I am worrying about a little for controlling Pelican in the real world, because I am not the expert pilot!

BTW: if there is not ROS-based Simulator in ROS, could you recommend me a good simulator to practise control for Quadrotor?

Thank you very much!