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 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 base_link 1 250 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.0003394 3.8785e-05 1000 0 0.004 0.006 300 0 0.004 0.006 300 0 0.004 0.006 300 base_link 1 50 0 0.01 base_link 1 100 0.0001 0.0001 0.0001 base_link 1 30 model://airspeed 0 0 0.7 0 -1.57 0 base_link airspeed_link -0 0 0 0 0 0 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://quadtailsitter/meshes/iris_prop_ccw.dae 0 0 1 1.0 0 0 1 1.0 1 0 rotor_0 base_link 0 0 1 -1e+16 1e+16 0 0 -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://quadtailsitter/meshes/iris_prop_ccw.dae 0 0 1 1.0 0 0 1 1.0 1 0 rotor_1 base_link 0 0 1 -1e+16 1e+16 0 0 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://quadtailsitter/meshes/iris_prop_cw.dae 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 rotor_2 base_link 0 0 1 -1e+16 1e+16 0 0 -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://quadtailsitter/meshes/iris_prop_cw.dae 0.175 0.175 0.175 1.0 0.175 0.175 0.175 1.0 1 0 rotor_3 base_link 0 0 1 -1e+16 1e+16 0 0 0.0 0.15188 8.5 0.97 5.015 1.5 0.15 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 0.4 0.22 1.2041 0 0 1 -1 0 0 base_link 0 rotor_0_joint rotor_0 ccw 0.0125 0.025 1200 8.54858e-06 0.06 command/motor_speed 0 8.06428e-05 1e-06 5 velocity rotor_1_joint rotor_1 ccw 0.0125 0.025 1200 8.54858e-06 0.06 command/motor_speed 1 8.06428e-05 1e-06 5 velocity rotor_2_joint rotor_2 cw 0.0125 0.025 1200 8.54858e-06 0.06 command/motor_speed 2 8.06428e-05 1e-06 5 velocity rotor_3_joint rotor_3 cw 0.0125 0.025 1200 8.54858e-06 0.06 command/motor_speed 3 8.06428e-05 1e-06 5 velocity 0