Just mind that this model does not fly great yet and is considered experimental
1- First install gazebo harmonic: https://ignitionrobotics.org/docs/harmonic/install
2- Clone this repo:
git clone https://github.com/bitcraze/crazyflie-simulation.git
3- Put this repo in your ~/.bashrc and source it in your terminal
export GZ_SIM_RESOURCE_PATH="{PATH ON YOUR COMPUTER}/crazyflie-simulation/simulator_files/gazebo/"
4- Try out the crazyflie world with:
gz sim -r worlds/crazyflie_world.sdf
5- Go to the right side of the gazebo gui and find the teleop plugin. Subscribe to /crazyflie/gazebo/command/twist.
6- Make it take off with the top arrow, and press top to make it hover.