false false 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 true base_link 1 50 0 0.01 base_link 1 250 0 0.00018665 3.8785e-05 1000 0 0.00018665 3.8785e-05 1000 0 0.00018665 3.8785e-05 1000 0 0.00186 0.006 300 0 0.00186 0.006 300 0 0.00186 0.006 300 base_link 1 100 0.0001 0.0001 0.0001 base_link 1 30 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://omnicopter/meshes/iris_prop_ccw.dae 1 rotor_0 base_link -0.788675 0.211325 0.57735 -1e+16 1e+16 0 0 -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://omnicopter/meshes/iris_prop_ccw.dae 1 rotor_1 base_link 0.211325 0.788675 -0.57735 -1e+16 1e+16 0 0 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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_2 base_link -0.211325 -0.788675 -0.57735 -1e+16 1e+16 0 0 -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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_3 base_link 0.788675 -0.211325 0.57735 -1e+16 1e+16 0 0 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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_4 base_link 0.788675 -0.211325 0.57735 -1e+16 1e+16 0 0 -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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_5 base_link -0.211325 -0.788675 -0.57735 -1e+16 1e+16 0 0 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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_6 base_link 0.211325 0.788675 -0.57735 -1e+16 1e+16 0 0 -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://omnicopter/meshes/iris_prop_cw.dae 1 rotor_7 base_link -0.788675 0.211325 0.57735 -1e+16 1e+16 0 0 rotor_0_joint rotor_0 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 0 0.000175 1e-06 10 velocity rotor_1_joint rotor_1 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 1 0.000175 1e-06 10 velocity rotor_2_joint rotor_2 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 2 0.000175 1e-06 10 velocity rotor_3_joint rotor_3 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 3 0.000175 1e-06 10 velocity rotor_4_joint rotor_4 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 4 0.000175 1e-06 10 velocity rotor_5_joint rotor_5 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 5 0.000175 1e-06 10 velocity rotor_6_joint rotor_6 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 6 0.000175 1e-06 10 velocity rotor_7_joint rotor_7 ccw 0.0125 0.025 1100.0 2.50972e-05 0.06 command/motor_speed 7 0.000175 1e-06 10 velocity