0 0 0 0 -0 0 0 0 0 0 -0 0 1.5 0.085225 0 0 0.085225 0 0.085225 0 0 0 0 -0 0 0.5 0.5 0.5 0.001 0 -0.23 -0.32 -0.45 0 -0 0 0.001 0.001 0.001 model://omnicopter/meshes/omnicopter.stl 1 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 0.1 0.1 0.1 -0.350879 -0.908651 0.172719 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_ccw.dae 1 rotor_0 base_link -0.788675 0.211325 0.57735 -1e+16 1e+16 0 0 1 -0.1 0.1 0.1 -2.20271 0.21293 -0.415283 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_ccw.dae 1 rotor_1 base_link 0.211325 0.788675 -0.57735 -1e+16 1e+16 0 0 1 0.1 -0.1 0.1 2.20271 -0.21293 -0.415283 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_2 base_link -0.211325 -0.788675 -0.57735 -1e+16 1e+16 0 0 1 -0.1 -0.1 0.1 0.350879 0.908651 0.172719 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_3 base_link 0.788675 -0.211325 0.57735 -1e+16 1e+16 0 0 1 0.1 0.1 -0.1 0.350879 0.908651 0.172719 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_4 base_link 0.788675 -0.211325 0.57735 -1e+16 1e+16 0 0 1 -0.1 0.1 -0.1 2.20271 -0.21293 -0.415283 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_5 base_link -0.211325 -0.788675 -0.57735 -1e+16 1e+16 0 0 1 0.1 -0.1 -0.1 -2.20271 0.21293 -0.415283 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_6 base_link 0.211325 0.788675 -0.57735 -1e+16 1e+16 0 0 1 -0.1 -0.1 -0.1 -0.350879 -0.908651 0.172719 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 0.064 0 0 0 0 -0 0 0.5 0.5 0.5 model://iris/meshes/iris_prop_cw.dae 1 rotor_7 base_link -0.788675 0.211325 0.57735 -1e+16 1e+16 0 0 1 base_link 10 true rotor_0_joint rotor_0 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 0 0.000175 1e-06 /motor_speed/0 10 true rotor_1_joint rotor_1 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 1 0.000175 1e-06 /motor_speed/1 10 true rotor_2_joint rotor_2 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 2 0.000175 1e-06 /motor_speed/2 10 true rotor_3_joint rotor_3 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 3 0.000175 1e-06 /motor_speed/3 10 true rotor_4_joint rotor_4 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 4 0.000175 1e-06 /motor_speed/4 10 true rotor_5_joint rotor_5 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 5 0.000175 1e-06 /motor_speed/5 10 true rotor_6_joint rotor_6 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 6 0.000175 1e-06 /motor_speed/6 10 true rotor_7_joint rotor_7 ccw 0.0125 0.025 1100 2.50972e-05 0.06 /gazebo/command/motor_speed 7 0.000175 1e-06 /motor_speed/7 10 model://gps 0 0 0 0 0 0 gps gps::link base_link 100 0.0004 6.4e-06 600 /mag 50 /baro /imu /gps /mag /baro INADDR_ANY 14560 4560 0 /dev/ttyACM0 921600 INADDR_ANY 14550 INADDR_ANY 14540 0 0 0 1 0 1 1 /gazebo/command/motor_speed 0 0 1000 0 0 velocity 1 0 1000 0 0 velocity 2 0 1000 0 0 velocity 3 0 1000 0 100 velocity 4 0 1000 0 0 velocity 5 0 1000 0 0 velocity 6 0 1000 0 0 velocity 7 0 1000 0 0 velocity 0 /imu_link /imu