https://docs.px4.io/master/en/simulation/multi_vehicle_simulation_gazebo.html
What is the meaning of No ROS in that link and what is the difference between No ROS and simulation with ROS?
PX4 Multi-Vehicle Simulation with Gazebo : What is No ROS?
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The text at the very top of the page explains that they use different commands depending on whether you are using ROS or not.
There is a separate section further down about how to do the same thing with ROS.