In this work, the Open Source technologies PX4, ROS2 and GazeboSim have been integrated to provide the Department of Mechanical and Aerospace Engineering of the Politecnico di Torino a test environment to carry out their research activities. In particular, this environment allows simulation in the loop testing for the control system of an agricultural spraying drone. The first part of this work focused on configuring the GazeboSim world's terrain in a computationally efficient but detailed description, based on an aerial laser scansion of a vineyard field. Then the GazeboSim drone's model has been configured, in particular, other than the essential flight sensors, a depth camera was added and the data stream was made available for ROS2 nodes.