0 0 0.246 0 0 0 0 0 0 0 0 0 0.15 0 0.1 0 0 0 2.05 0.16632 0 0.0755 0.3899 0 0.5243 0 0 -0.07 0 0 0 1.088 2.591 0.103 10 0.01 0 0 0 0 0 3.141 1 1 1 model://believer/meshes/believer_body.dae 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0.015 1e-05 0 0 1e-05 0 1e-05 imu_link base_link 1 0 0 0 0 0 0 0 0 1 model://airspeed 0 0 0 0 0 0 airspeed airspeed::link base_link 0.05 -0.25 0.05 0 1.57 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 0 0.005 0.1 0 0 0 0 0 0 1.0 1.0 1.0 model://believer/meshes/propeller_cw.dae 1 0 0.05 0.25 0.05 0 1.57 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 0 0.005 0.1 0 0 0 0 -0 0 1.0 1.0 1.0 model://believer/meshes/propeller_cw.dae 1 0 rotor_right base_link 1 0 0 -1e+16 1e+16 0 0 1 rotor_left base_link 1 0 0 -1e+16 1e+16 0 0 1 -0.225 0.6 0.03 0 -0 0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 0.3 0 0.00 0 0.0 0.225 -0.60 -0.03 0 -0 3.1415 1 1 1 model://believer/meshes/believer_aileron_left.dae -0.225 -0.6 0.03 0 -0 0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.3 0 0.00 0 0.0 0.225 0.60 -0.03 0 -0 3.141 1 1 1 model://believer/meshes/believer_aileron_right.dae 0.0 0 0.0 0 0 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 0 0 0 0.0 3.141592 1 1 1 model://believer/meshes/believer_taileron_left.dae 0.0 0 0.0 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 0 0 0 0 0.0 3.141592 1 1 1 model://believer/meshes/believer_taileron_right.dae base_link left_elevon -0.0 0.0 0.0 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link right_elevon -0.0 -0.0 0.0 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link taileron_left -0.825 0.082 0.05 0.00 0 0.0 0.12 0.5 0.4 -0.53 0.53 1.000 1 base_link taileron_right -0.825 -0.082 0.05 0.00 0 0.0 -0.12 -0.5 0.4 -0.53 0.53 1.000 1 model://gps 0 0 0 0 0 0 gps gps::link base_link 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 0.45 0.05 0.6 1.2041 1 0 0 0 0 1 base_link left_elevon_joint -0.5 world_wind 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 -0.45 0.05 0.6 1.2041 1 0 0 0 0 1 base_link right_elevon_joint -0.5 world_wind -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 taileron_left_joint -4.0 world_wind 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 taileron_right_joint 4.0 world_wind rotor_right_joint rotor_right cw 0.0125 0.025 3500 8.54858e-06 0.01 /gazebo/command/motor_speed 4 8.06428e-05 1e-06 /motor_speed/4 10 world_wind rotor_left_joint rotor_left cw 0.0125 0.025 3500 8.54858e-06 0.01 /gazebo/command/motor_speed 4 8.06428e-05 1e-06 /motor_speed/4 10 world_wind imu_link /imu 100 0.0004 6.4e-06 600 /mag 50 /baro /imu /mag /baro INADDR_ANY 4560 14560 false /dev/ttyACM0 921600 INADDR_ANY 14550 INADDR_ANY 14540 false false true true /gazebo/command/motor_speed 2 0 1 0 0 position_kinematic taileron_right_joint 4 0 3500 0 0 velocity rotor_right_joint 5 0 1 0 0 position_kinematic left_elevon_joint 6 0 1 0 0 position_kinematic right_elevon_joint 7 0 1 0 0 position_kinematic taileron_left_joint 0