the included baseline just demonstrates that the Betaflight controller will indeed move to the hard-coded center positions of each gate. So the basic first solver task would be to replace that with a CV or ML inference based approach. We plan to add another demo solver into the sample set that shows this next, currently in progress.

Both great tools, optimized for slightly different needs. Gazebo is great for simulation and testing of higher level control, or for simulation that doesn't require 1000hz sensor simulation rate. Nvidia Isaac focuses on ML model training workflows, not ideal for interacting directly with your flight software for flight testing your code before you fly. This aims to be software CI/CD for your drone builds.