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 -0.2 0 0 0 0.4 1.0 0.2 10 0.01 0 0 0.2 0 -1.57075 0 0.001 0.001 0.001 model://tailsitter/meshes/pacflyer_s100_mockup.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 tailsitter/imu_link base_link 1 0 0 0 0 0 0 0 0 1 model://airspeed 0 0 0.6 0 -1.57 0 airspeed airspeed::link base_link 0.3 -0.3 0.4 0 0 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 -0.3 0.3 0.4 0 0 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 0.3 0.3 0.4 0 0 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 -0.3 -0.3 0.4 0 0 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 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 0.3 -0.3 0.00 0 0.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.3 -0.3 0.00 0 0.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 0 -0.5 0.00 0 0.0 base_link left_elevon_link 0 0.3 -0.25 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link right_elevon_link 0 -0.3 -0.25 0.00 0 0.0 0 1 0 -0.53 0.53 1.000 1 base_link rudder_link 0 0 -0.5 0.00 0 0.0 1 0 0 -0.01 0.01 1.000 1 model://gps 0 0 0.5 0 -1.57 0 gps gps::link base_link 0.05984281113 4.752798721 0.6417112299 0.0 0.6391428111 -3.85 -0.9233984055 0 -0.3 0 0.3 0.0 0.15 1.2041 0 0 1 -1 0 0 base_link left_elevon_joint -0.5 world_wind 0.05984281113 4.752798721 0.6417112299 0.0 0.6391428111 -3.85 -0.9233984055 0 -0.3 0 -0.3 -0.0 0.15 1.2041 0 0 1 -1 0 0 base_link right_elevon_joint -0.5 world_wind 0.0 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.1 0 -0.5 0.05 1.2041 0 0 1 0 1 0 base_link world_wind base_link 10 rotor_0_joint rotor_0 ccw 0.0125 0.025 1200 8.54858e-06 0.06 /gazebo/command/motor_speed 0 8.06428e-05 1e-06 /motor_speed/0 10 rotor_1_joint rotor_1 ccw 0.0125 0.025 1200 8.54858e-06 0.06 /gazebo/command/motor_speed 1 8.06428e-05 1e-06 /motor_speed/1 10 rotor_2_joint rotor_2 cw 0.0125 0.025 1200 8.54858e-06 0.06 /gazebo/command/motor_speed 2 8.06428e-05 1e-06 /motor_speed/2 10 rotor_3_joint rotor_3 cw 0.0125 0.025 1200 8.54858e-06 0.06 /gazebo/command/motor_speed 3 8.06428e-05 1e-06 /motor_speed/3 10 tailsitter/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 5 0 1 0 0 position_kinematic left_elevon_joint 6 0 1 0 0 position_kinematic right_elevon_joint 0