0 0 -96.5 0 0 0 0 0 0 0 -0 0 11 0.1 0 0 0.1 0 0.1 0 0 0 0 -0 0 0.5 0.5 0.5 0.001 0 0 0 -0.06 0 -0 0 model://uuv_bluerov2_heavy/meshes/BlueROV2heavy.dae 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 30 0 0 1 -1e+16 1e+16 base_link thruster0 0.14 -0.10 -0.06 0 1.570796 -2.356194 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster1 0.14 0.10 -0.06 0 1.570796 2.356194 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster2 -0.14 -0.10 -0.06 0 1.570796 -0.78539815 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster3 -0.14 0.10 -0.06 0 1.570796 0.78539815 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster4 0.12 -0.22 0.0 3.1415 0 0 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster5 0.12 0.22 0.0 3.1415 0 0 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster6 -0.12 -0.22 0.0 3.1415 0 0 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae 0 0 1 -1e+16 1e+16 base_link thruster7 -0.12 0.22 0.0 3.1415 0 0 1e-10 1e-06 0 0 1e-06 0 1e-06 1 1 1 model://uuv_bluerov2_heavy/meshes/prop.dae thruster0_joint thruster0 0 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster1_joint thruster1 1 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster2_joint thruster2 2 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster3_joint thruster3 3 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster4_joint thruster4 4 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster5_joint thruster5 5 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster6_joint thruster6 6 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] thruster7_joint thruster7 7 ccw 0.0125 0.025 1100.0 10 0.01 command/motor_speed 0 0 0.025 force_polynomial duty_cycle 0.00 1100 1900 1 [0.0, 4.53, 0.0, 0.0, 0.0, 0.0] [0.0, 3.52, 0.0, 0.0, 0.0, 0.0] 3