This project aims to create a ROS/Gazebo-based environment for UAV controller performance evaluation through simulated experiments. A general purpose interface is also developed to integrate MATLAB/Simulink with ROS/Gazebo. The combined setting allows for incorporating realistic environment constraints and uncertainty, system model requirements, and other exogenous factors into the testing framework. This work takes as case of study a quadrotor, which is widely used nowadays for military, commercial and private purposes. These systems have a highly nonlinear behavior and different challenges to deal with; like sensor noise, external disturbances (i.e. wind gust), hard and precise maneuvers and payload release. The model of the quadrotor is implemented in Gazebo taking into account a detailed aerodynamics model and feedback sensor noise.