0 0 0.4 0 0 0 0 0 0.05 0 0 0 1.6 0.1133333333 0 0 0.03020833333 0 0.08354166667 0 0 -0.1 0 0 0 0.3 0.5 0.2 10 0.01 -0.005 0 0 0 0 1.57 0.001 0.001 0.001 model://quadtailsitter/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 quadtailsitter/imu_link base_link 1 0 0 0 0 0 0 0 0 1 model://airspeed 0 0 0.7 0 -1.57 0 airspeed airspeed::link base_link 0.145 -0.23 0.46 0.17 -0.17 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://tailsitter/meshes/iris_prop_ccw.dae 1 0 rotor_0 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.145 0.23 0.46 -0.17 0.17 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://tailsitter/meshes/iris_prop_ccw.dae 1 0 rotor_1 base_link 0 0 1 -1e+16 1e+16 0 0 1 0.145 0.23 0.46 -0.17 -0.17 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://tailsitter/meshes/iris_prop_ccw.dae 1 0 rotor_2 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.145 -0.23 0.46 0.17 0.17 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://tailsitter/meshes/iris_prop_ccw.dae 1 0 rotor_3 base_link 0 0 1 -1e+16 1e+16 0 0 1 model://gps 0 0 0.5 0 -1.57 0 gps gps::link base_link 0.0 0.15188 6.5 0.97 5.015 0.029 0.075 -0.463966 -0.258244 -0.039250 0.100826 0.0 0.065861 0.0 -0.487407 0.0 -0.040416 0.055166 0.0 7.971792 0.0 -12.140140 0.0 0.0 0.230299 0.0 0.078165 0.0 -0.089947 0.3391428111 -3.85 -0.9233984055 0 -0.12 0.0 0.0 0.15 0.22 1.2041 0 0 1 -1 0 0 base_link 0 world_wind base_link 10 rotor_0_joint rotor_0 ccw 0.0125 0.025 1200 1.54858e-05 0.06 /gazebo/command/motor_speed 0 8.06428e-05 1e-06 /motor_speed/0 5 rotor_1_joint rotor_1 ccw 0.0125 0.025 1200 1.54858e-05 0.06 /gazebo/command/motor_speed 1 8.06428e-05 1e-06 /motor_speed/1 5 rotor_2_joint rotor_2 cw 0.0125 0.025 1200 1.54858e-05 0.06 /gazebo/command/motor_speed 2 8.06428e-05 1e-06 /motor_speed/2 5 rotor_3_joint rotor_3 cw 0.0125 0.025 1200 1.54858e-05 0.06 /gazebo/command/motor_speed 3 8.06428e-05 1e-06 /motor_speed/3 5 quadtailsitter/imu_link /imu 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 0 0 1200 0 0 velocity rotor_0_joint 1 0 1200 0 0 velocity rotor_1_joint 2 0 1200 0 0 velocity rotor_2_joint 3 0 1200 0 0 velocity rotor_3_joint 0