0 0 0.246 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.5 0.197563 0 0 0.1458929 0 0.1477 0 0 -0.07 0 0 0 0.47 0.47 0.11 10 0.01 0.07 0 -0.08 0 0 0 0.1 0.1 0.1 model://plane/meshes/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 plane/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 0.3 0 0.0 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 -0.09 0 0 0 1 1 1 model://plane/meshes/iris_prop_ccw.dae 1 0 rotor_puller base_link 1 0 0 -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 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/left_aileron.dae lift_force/left_elevon Gazebo/Green 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.3 0 0.00 0 0.0 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/right_aileron.dae lift_force/right_elevon Gazebo/Green 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 0.15 0 0.00 0 0.0 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/left_flap.dae lift_force/left_flap Gazebo/Green 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.15 0 0.00 0 0.0 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/right_flap.dae lift_force/right_flap Gazebo/Green 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0 0.00 0 0.0 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/elevators.dae lift_force/elevator Gazebo/Green 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0.05 0 0 0 0.07 0.0 -0.08 0.00 0 0.0 0.1 0.1 0.1 model://plane/meshes/rudder.dae lift_force/rudder Gazebo/Green base_link left_elevon -0.07 0.4 0.08 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link right_elevon -0.07 -0.4 0.08 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link left_flap -0.07 0.2 0.08 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link right_flap -0.07 -0.2 0.08 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link elevator -0.5 0 0 0 0 0 0 1 0 -0.53 0.53 1.000 1 base_link rudder -0.5 0 0.05 0.00 0 0.0 0 0 1 -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 lift_force/left_elevon left_elevon_joint -0.3 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 lift_force/right_elevon right_elevon_joint -0.3 world_wind 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 0.15 0.05 0.6 1.2041 1 0 0 0 0 1 base_link lift_force/left_flap left_flap_joint -0.1 world_wind 0.05984281113 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.05 -0.15 0.05 0.6 1.2041 1 0 0 0 0 1 base_link lift_force/right_flap right_flap_joint -0.1 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 lift_force/elevator elevator_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 lift_force/rudder rudder_joint 0.8 world_wind rotor_puller_joint rotor_puller 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 100 0.0004 6.4e-06 600 /mag 50 /baro /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 }} false true true /gazebo/command/motor_speed 2 0 1 0 0 position_kinematic rudder_joint 4 0 3500 0 0 velocity rotor_puller_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 elevator_joint 3 0 -1 0 0 position_kinematic left_flap_joint 8 0 -1 0 0 position_kinematic right_flap_joint 0 plane/imu_link /imu