Simulink-Gazebo Co-Simulation Step by step installation and Multi-Quadrotors examples ?

I am looking to setup Simulink-Gazebo Co-Simulation. I found some documentation on matlab -Simulink-Gazebo co-simulation , Gazebo-Robotics toolbox .

However, I am unable to find any tutorials for step by step installation and setting up to see an example. Please provide me video or other resources for this.

My goal is to have Multiple Quadrotors flying in an environment and have interactions with the environemnt.