0 0 0.246 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0.477708333333 0 0 0.341666666667 0 0.811041666667 0 0 -0.07 0 0 0 0.55 2.144 0.05 100000 1.0 0.1 0.001 0.53 -1.072 -0.1 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_wing.dae 0 0.35 0.01 0 0 0 0.74 0.03 0.03 0 -0.35 0.01 0 0 0 0.74 0.03 0.03 -0.35 0.35 0.045 0 0 0 0.035 0.02 -0.35 -0.35 0.045 0 0 0 0.035 0.02 0.35 -0.35 0.045 0 0 0 0.035 0.02 0.35 0.35 0.045 0 0 0 0.035 0.02 1 0 0 0 0 0 0 0 0.015 0.00001 0 0 0.00002 0 0.00002 0 0 0 0 0 0 10.0 true 0 1 3 1 0.5 0 1 3 1 1.0 0 0.1 0.1 0.1 0.1 0 0.2 0.2 0.2 0.2 standard_vtol/imu_link base_link 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0.015 0.00001 0 0 0.00002 0 0.00002 0 0 0 3.141593 0 0 1 1000 0.35 -0.35 0.07 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://standard_vtol/meshes/iris_prop_ccw.dae 1 0 rotor_0 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.35 0.35 0.07 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://standard_vtol/meshes/iris_prop_ccw.dae 1 0 rotor_1 base_link 0 0 1 -1e+16 1e+16 0 0 1 0.35 0.35 0.07 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://standard_vtol/meshes/iris_prop_cw.dae 1 0 rotor_2 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.35 -0.35 0.07 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://standard_vtol/meshes/iris_prop_cw.dae 1 0 rotor_3 base_link 0 0 1 -1e+16 1e+16 0 0 1 -0.22 0 0.0 0 1.57 0 0 0 0 0 0 0 0.005 9.75e-07 0 0 0.000166704 0 0.000167604 0.0 0 -0.04 0 0 0 0.005 0.06 0 0 -0.04 0 0 0 0.8 0.8 0.8 model://standard_vtol/meshes/iris_prop_ccw.dae 1 0 rotor_puller base_link 1 0 0 -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 0.00 0 0.0 -0.105 0.004 -0.034 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_elevon_left.dae 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 0 -0.6 0 0.00 0 0.0 0.281 -1.032 -0.034 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://standard_vtol/meshes/x8_elevon_right.dae 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0 0.00 0 0.0 0.00000001 0.000001 0.0 0.000001 0.0 0.0 0.000001 -0.5 0 0.05 0 0 0 base_link left_elevon -0.18 0.6 -0.005 0 0 0.265 0 1 0 -0.53 0.53 1.000 1 base_link right_elevon -0.18 -0.6 -0.005 0 0 -0.265 0 1 0 -0.53 0.53 1.000 1 base_link elevator -0.5 0 0 0 0 0 0 1 0 -0.53 0.53 1.000 1 base_link rudder -0.5 0 0.05 0.00 0 0.0 1 0 0 -0.01 0.01 1.000 1 0.05984281113 4.752798721 0.6417112299 -1.8 0.3391428111 -3.85 -0.9233984055 0 -0.05 0.3 0.05 0.50 1.2041 1 0 0 0 0 1 base_link left_elevon_joint -1.0 0.05984281113 4.752798721 0.6417112299 -1.8 0.3391428111 -3.85 -0.9233984055 0 -0.05 -0.3 0.05 0.50 1.2041 1 0 0 0 0 1 base_link right_elevon_joint -1.0 -0.2 4.752798721 0.6417112299 -1.8 0.3391428111 -3.85 -0.9233984055 0 -0.5 0 0 0.01 1.2041 1 0 0 0 0 1 base_link elevator_joint -12.0 0.0 4.752798721 0.6417112299 -1.8 0.3391428111 -3.85 -0.9233984055 0 -0.5 0 0.05 0.02 1.2041 1 0 0 0 1 0 base_link 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 standard_vtol::rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 standard_vtol::rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 standard_vtol::rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 standard_vtol::rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 standard_vtol::rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 standard_vtol::rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 standard_vtol::rotor_3 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 standard_vtol::rotor_3 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 -1 standard_vtol::rotor_puller 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 -1 standard_vtol::rotor_puller 127.0.0.1 9002 9003 0 0 0 3.141593 0 0 0 0 0 3.141593 0 0 standard_vtol::standard_vtol/imu_link::imu_sensor 5 1 -0.5 POSITION 2.5 0 0 0 0 1 -1 standard_vtol::left_elevon_joint 1 -0.5 POSITION 2.5 0 0 0 0 1 -1 standard_vtol::right_elevon_joint 1 -0.5 POSITION 2.5 0 0.1 0 0 1 -1 standard_vtol::elevator_joint 1000 0 VELOCITY 10 0 0 0 0 20.0 0.0 standard_vtol::rotor_puller_joint 1 1000 0 VELOCITY 0.2 0.2 0.0 0 0 2.5 -2.5 standard_vtol::rotor_0_joint 1 1 1000 0 VELOCITY 0.2 0.2 0.0 0 0 2.5 -2.5 standard_vtol::rotor_1_joint 1 -1000 0 VELOCITY 0.2 0.2 0.0 0 0 2.5 -2.5 standard_vtol::rotor_2_joint 1 -1000 0 VELOCITY 0.2 0.2 0.0 0 0 2.5 -2.5 standard_vtol::rotor_3_joint 1 0