0 0 0 0 0 0 61.2 61.2*0.995 0 0 61.2*3.85 0 61.2*3.97 model://vanguard/meshes/TampoVermelho.stl model://vanguard/meshes/VolanteEncosto.stl model://vanguard/meshes/FlutuadorLaranja.stl model://vanguard/meshes/FlutuadorBranco.stl model://vanguard/meshes/PartesVermelhas.stl model://vanguard/meshes/PartesNeutras.stl model://vanguard/meshes/BorrachaCinza.stl model://vanguard/meshes/LetrasCinza.stl model://vanguard/meshes/Ferros.stl model://vanguard/meshes/Vidro.stl model://vanguard/meshes/ContornoBEV.stl model://vanguard/meshes/TampoVermelho.stl 0.3396 0.0 0.2316 0 0 0 0 0 0 0 -0 0 0.25 0.0664850842 0 0 0.07578406619 0 0.01862139212 0 0 0 0 0 0 0.01 0.23 -0.3396 -0.0 -0.2316 0 0 0 model://vanguard/meshes/motor.stl 1 0 motor_link base_link 0 0 1 -1.0472 1.0472 0.004 0 1 0.582304 0.0 -0.180179 0 0.0558 0 0 0 0 0 0 0 0.025 0.0005281232574 0 0 0.0003417759074 0 0.0002968354545 0 0 0 0 0 0 model://vanguard/meshes/propeller.stl propeller0 Gazebo/Red 1.0 1.0 1.0 propeller1 Gazebo/Green 1.0 1.0 1.0 propeller2 Gazebo/Purple 1.0 1.0 1.0 1 0 propeller_link motor_link 1 0 0 -1e+16 1e+16 0 0 0 0 3.14159 0 3.14159 0 0 0 0 0 0 0.15 0.001 0 0 0.002 0 0.002 0 0 0 0 0 0 1 1000.0 imu_link base_link 0 0 1 0 0 0 0 0.5 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0.15 0.0001 0 0 0.0002 0 0.0002 ground_truth/odometry_sensorgt_link base_link 0 0 1 0 0 0 0 1.0 1 1 ocean_waves 1000 0.0 25.0 2.0 vanguard0::base_link 0 0 0.35 0 0 0 0.575 0.1 1.4 0.25 0.00 0.00 -0.025 0.0 0.0 0.2307 997 0.1 0 0.17 0 -1 0 -1 0 0 vanguard0::propeller_link true propeller0 0.1 1.4 0.25 0.00 0.00 -0.025 0.0 0.0 0.2307 997 0.1 -0.147224318 -0.085 0 0.5 -0.8660254 -1 0 0 vanguard0::propeller_link true propeller1 0.1 1.4 0.25 0.00 0.00 -0.025 0.0 0.0 0.2307 997 0.1 0.147224318 -0.085 0 0.5 0.8660254 -1 0 0 vanguard0::propeller_link true propeller2 127.0.0.1 9002 9003 0 0 0 3.142 0 0 0 0 0 3.141593 0 0 vanguard0::imu_link::imu_sensor 6 0.20 0.00 0.00 VELOCITY 0 1.0 -1.0 vanguard0::propeller_joint 600 1 1.0 -0.5 POSITION vanguard0::motor_joint 0.1 0.0 0.25 500 -500 true true