This is modified from uwb_driver, thanks for his great work.
UWB ROS driver
To simulate UWB with gazebo, plese clone following repo to your ROS workspace:
git clone https://github.com/wang-chen/hector_quadrotor.git
Then launch the gazebo simulation launch file
roslaunch uwb_driver uwb_gazebo.launch
You may also interested in the localization repo for multiple sensors:
https://github.com/wang-chen/localization
Thien-Minh Nguyen made great contributions to this repo, thanks!