I am simulating a flying robot in gazebo, and have been using the Gazebo simulink cosimulation approach. I calculate lift/drag and so on in the relative, body frame of the robot using my own functions. I know gazebo has this capability through other means(outside of MATLAB), but I would like to stay in the MATLAB-Simulink-Gazebo world. The documentation for the gazebo applylinkwrench blocks is not thorough, and I only see the ability to apply two message types in the block: ApplyLinkWrench or ApplyJointTorque. It seems there should be a ApplyLinkWrenchRelative, or something along those lines, but I cannot find it.
Additionally, if anyone has any insight into how to extract velocity in relative frame from a model/link, I would appriciate that as well!