0 0 0.246 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 0.197563 0 0 0.1458929 0 0.1477 -0.01 0 -0.08 0 0 0 0.55 2.144 0.05 100000 1.0 0.1 0.001 0.53 -1.072 -0.1 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_wing.dae 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 0 0.35 0.01 0 0 0 0.74 0.03 0.03 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 0 -0.35 0.01 0 0 0 0.74 0.03 0.03 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 -0.35 -0.35 0.045 0 0 0 0.035 0.02 .175 .175 .175 1.0 .175 .175 .175 1.0 -0.35 0.35 0.045 0 0 0 0.035 0.02 .175 .175 .175 1.0 .175 .175 .175 1.0 1 0 base_link 1 250 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.004 0.006 300 0 0.004 0.006 300 0 0.004 0.006 300 base_link 1 50 0 0.01 base_link 1 100 0.0001 0.0001 0.0001 base_link 1 30 model://airspeed 0. 0. 0. 0. 0. 0. base_link airspeed_link -0 0 0 0 0 0 0.35 -0.35 0.045 0 0 0 0 0 0 0 0 0 0.05 0.0166704 0 0 0.0166704 0 0.0167604 0 0 0 0 0 0 0.035 0.02 0 0 0 0 0 0 0.035 0.02 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 motor_0 base_link 0 1 0 0. 1.57 1.0 0 0 1 0.35 -0.35 0.07 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0 0 0 0 0 0 0.005 0.1 0 0 0 0 0 0 1 1 1 model://standard_vtol/meshes/iris_prop_ccw.dae 0 0 1 1.0 0 0 1 1.0 1 0 rotor_0 motor_0 0 0 1 -1e+16 1e+16 0 0 1 -0.35 0.35 0.07 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0 0 0 0 0 0 0.005 0.1 0 0 0 0 0 0 1 1 1 model://standard_vtol/meshes/iris_prop_ccw.dae 0 0 1 1.0 0 0 1 1.0 1 0 rotor_1 base_link 0 0 1 -1e+16 1e+16 0 0 1 0.35 0.35 0.045 0 0 0 0 0 0 0 0 0 0.05 0.0166704 0 0 0.0166704 0 0.0167604 0 0 0 0 0 0 0.035 0.02 0 0 0 0 0 0 0.035 0.02 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 motor_2 base_link 0 1 0 0. 1.57 1.0 0 0 1 0.35 0.35 0.07 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0 0 0 0 0 0 0.005 0.1 0 0 0 0 0 0 1 1 1 model://standard_vtol/meshes/iris_prop_cw.dae 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 rotor_2 motor_2 0 0 1 -1e+16 1e+16 0 0 1 -0.35 -0.35 0.07 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0 0 0 0 0 0 0.005 0.1 0 0 0 0 0 0 1 1 1 model://standard_vtol/meshes/iris_prop_cw.dae 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 rotor_3 base_link 0 0 1 -1e+16 1e+16 0 0 1 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 0.3 0 0.00 0 0.0 -0.105 0.004 -0.034 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_elevon_left.dae 0 0 1 1.0 0 0 1 1.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.6 0 0.00 0 0.0 0.281 -1.032 -0.034 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_elevon_right.dae 0 0 1 1.0 0 0 1 1.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0 0.00 0 0.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0.05 0 0 0 base_link left_elevon -0.18 0.6 -0.005 0 0 0.265 0 1 0 -0.78 0.78 1.000 1 base_link right_elevon -0.18 -0.6 -0.005 0 0 -0.265 0 1 0 -0.78 0.78 1.000 1 base_link elevator -0.5 0 0 0 0 0 0 1 0 -0.78 0.78 1.000 1 base_link rudder -0.5 0 0.05 0.00 0 0.0 1 0 0 -0.01 0.01 1.000 1 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 0.3 0.05 0.5 1.2041 1 0 0 0 0 1 base_link left_elevon_joint -1.0 left_elevon_joint servo_0 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 -0.3 0.05 0.5 1.2041 1 0 0 0 0 1 base_link right_elevon_joint -1.0 right_elevon_joint servo_1 -0.2 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.5 0 0 0.01 1.2041 1 0 0 0 0 1 base_link elevator_joint -12.0 elevator_joint servo_2 0.0 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.5 0 0.05 0.02 1.2041 1 0 0 0 1 0 base_link rotor_0_joint rotor_0 ccw 0.0125 0.025 1500 2e-05 0.06 command/motor_speed 0 0.0000806428 1e-06 20 velocity motor_0_joint servo_3 100 0 0 0.0 0.0 2 -2 0.2 rotor_1_joint rotor_1 ccw 0.0125 0.025 1500 2e-05 0.06 command/motor_speed 1 0.0000806428 1e-06 20 velocity rotor_2_joint rotor_2 cw 0.0125 0.025 1500 2e-05 0.06 command/motor_speed 2 0.0000806428 1e-06 20 velocity motor_2_joint servo_4 100 0 0 0.0 0.0 2 -2 0.2 rotor_3_joint rotor_3 cw 0.0125 0.025 1500 2e-05 0.06 command/motor_speed 3 0.0000806428 1e-06 20 velocity 0