iris iris/base_link 10 iris iris/rotor_0_joint iris/rotor_0 ccw 0.0125 0.025 838 8.54858e-06 0.016 gazebo/command/motor_speed 0 8.06428e-05 1e-06 motor_speed/0 10 Gazebo/Blue iris iris/rotor_1_joint iris/rotor_1 ccw 0.0125 0.025 838 8.54858e-06 0.016 gazebo/command/motor_speed 1 8.06428e-05 1e-06 motor_speed/1 10 Gazebo/Red iris iris/rotor_2_joint iris/rotor_2 cw 0.0125 0.025 838 8.54858e-06 0.016 gazebo/command/motor_speed 2 8.06428e-05 1e-06 motor_speed/2 10 Gazebo/Blue iris iris/rotor_3_joint iris/rotor_3 cw 0.0125 0.025 838 8.54858e-06 0.016 gazebo/command/motor_speed 3 8.06428e-05 1e-06 motor_speed/3 10 Gazebo/Red