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 -.14 0 0 0 0 0 0.65 .08 0.10 10 0.01 -0.01 0 0.07 0 0 0 0.1 1.0 0.01 10 0.01 0.07 0 -0.08 0 0 0 0.1 0.1 0.1 model://rc_cessna/meshes/body.dae .175 .175 .175 1.0 .175 .175 .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 30 base_link 1 50 0 0.01 base_link 1 100 0.0001 0.0001 0.0001 0 0 0 0 0 0 0 0 0 0 0 0 0.015 1e-05 0 0 1e-05 0 1e-05 0.01 0.1 0 0 0 1.0 0 0 0 1.0 airspeed base_link 0.22 0 0.0 0 1.57079632679 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0 0 0 0 -1.57079632679 0 0.005 0.22 0.02 0 0 0 0 0 -1.57079632679 1 1 1 model://rc_cessna/meshes/iris_prop_ccw.dae 0 0 1 1.0 0 0 1 1.0 1 0 rotor_puller base_link 0 0 1 -1e+16 1e+16 0 0 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://rc_cessna/meshes/left_aileron.dae 0 0 1 1.0 0 0 1 1.0 0 0 0 0 0 0 .05 0.00003331 0 0 0.0000204 0 0.0000204 true 0 0 0 -1.57079632679 0 0 0.01 0.03 0 0 0 -1.57079632679 0 0 0.01 0.03 1.0 0.5 0 0 1 0 0 0 0 0 0 .05 0.00003331 0 0 0.0000204 0 0.0000204 true 0 0 0 -1.57079632679 0 0 0.01 0.03 0 0 0 -1.57079632679 0 0 0.01 0.03 1.0 0.5 0 0 1 0 0 0 0 0 0 .05 0.00003331 0 0 0.0000204 0 0.0000204 true 0 0 0 -1.57079632679 0 0 0.01 0.025 0 0 0 -1.57079632679 0 0 0.01 0.025 1.0 0.5 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://rc_cessna/meshes/right_aileron.dae 0 0 1 1.0 0 0 1 1.0 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://rc_cessna/meshes/left_flap.dae 0 0 1 1.0 0 0 1 1.0 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://rc_cessna/meshes/right_flap.dae 0 0 1 1.0 0 0 1 1.0 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://rc_cessna/meshes/elevators.dae 0 0 1 1.0 0 0 1 1.0 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://rc_cessna/meshes/rudder.dae 0 0 1 1.0 0 0 1 1.0 base_link left_elevon -0.07 0.4 0.08 0.00 0 0.0 0 1 0 -0.78 0.78 1.000 1 base_link right_elevon -0.07 -0.4 0.08 0.00 0 0.0 0 1 0 -0.78 0.78 1.000 1 base_link left_flap -0.07 0.2 0.08 0.00 0 0.0 0 1 0 -0.78 0.78 1.000 1 base_link right_flap -0.07 -0.2 0.08 0.00 0 0.0 0 1 0 -0.78 0.78 1.000 1 base_link elevator -0.5 0 0 0 0 0 0 1 0 -0.78 0.78 1.000 1 base_link rudder -0.5 0 0.05 0.00 0 0.0 0 0 1 -0.78 0.78 1.000 1 base_link LeftWheel -.035 .13 -0.12 0 0 0 0 1 0 -1.79769e+308 1.79769e+308 0.02 0 0 base_link RightWheel -.035 -.13 -0.12 0 0 0 0 1 0 -1.79769e+308 1.79769e+308 0.02 0 0 base_link CenterWheel .135 0 -0.12 0 0 0 0 1 0 -1.79769e+308 1.79769e+308 0.02 0 0 0.05984281113 4.752798721 1.5 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 servo_0 -0.3 servo_0 servo_0 10.0 0.05984281113 4.752798721 1.5 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 servo_1 -0.3 servo_1 servo_1 10.0 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 left_flap_joint -0.1 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 right_flap_joint -0.1 -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 servo_2 -4.0 servo_2 servo_2 10.0 0.0 4.752798721 0.6417112299 0.0 0.3391428111 -3.85 -0.9233984055 0 -0.5 0 0.05 0.1 1.2041 1 0 0 0 1 0 base_link rudder_joint 0.8 rudder_joint servo_3 10.0 rotor_puller_joint rotor_puller cw 0.0125 0.025 1000 1.2e-05 0.016 command/motor_speed 0 8.06428e-05 1e-06 10 velocity 0