0 0 0 0 0 0 0 0 0 0 0 0 1.5 0.029125 0 0 0.029125 0 0.055225 0 0 0 0 0 0 0.47 0.47 0.11 0.001 0 0 0 0 0 0 0 1 1 1 model://iris/meshes/iris.stl 1 0 0 0.02 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 0.13 -0.22 0.023 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000273104 0 0.000274004 0 0 0 0 0 0 0.005 0.128 0 0 0 0 0 0 1 1 1 model://iris/meshes/iris_prop_ccw.dae 1 rotor_0 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.13 0.2 0.023 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000273104 0 0.000274004 0 0 0 0 0 0 0.005 0.128 0 0 0 0 0 0 1 1 1 model://iris/meshes/iris_prop_ccw.dae 1 rotor_1 base_link 0 0 1 -1e+16 1e+16 0 0 1 0.13 0.22 0.023 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000273104 0 0.000274004 0 0 0 0 0 0 0.005 0.128 0 0 0 0 0 0 1 1 1 model://iris/meshes/iris_prop_cw.dae 1 rotor_2 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.13 -0.2 0.023 0 0 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000273104 0 0.000274004 0 0 0 0 0 0 0.005 0.128 0 0 0 0 0 0 1 1 1 model://iris/meshes/iris_prop_cw.dae 1 rotor_3 base_link 0 0 1 -1e+16 1e+16 0 0 1 base_link 10 rotor_0_joint rotor_0 ccw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 0 0.000175 1e-06 /motor_speed/0 10 rotor_1_joint rotor_1 ccw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 1 0.000175 1e-06 /motor_speed/1 10 rotor_2_joint rotor_2 cw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 2 0.000175 1e-06 /motor_speed/2 10 rotor_3_joint rotor_3 cw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 3 0.000175 1e-06 /motor_speed/3 10 model://gps 0.05 0 0.04 0 0 0 gps0 gps0::link base_link 100 0.0004 6.4e-06 600 /mag 50 /baro 0 /imu /mag /baro INADDR_ANY {{ mavlink_tcp_port }} {{ mavlink_udp_port }} {{ serial_enabled }} {{ serial_device }} {{ serial_baudrate }} INADDR_ANY 14550 INADDR_ANY 14540 {{ hil_mode }} 0 0 1 1 1 /gazebo/command/motor_speed 0 0 1000 0 100 velocity 1 0 1000 0 100 velocity 2 0 1000 0 100 velocity 3 0 1000 0 100 velocity 4 1 324.6 0 0 velocity

0.1

0 0 0.0 0.0 2 -2 zephyr_delta_wing::propeller_joint 5 0 0.524 0 0 position zephyr_delta_wing::flap_left_joint

10.0

0 0 0 0 20 -20 6 0 0.524 0 0 position zephyr_delta_wing::flap_right_joint

10.0

0 0 0 0 20 -20 7 0 0.524 0 0 position 0 /imu_link /imu