0 0 0 0 -0 -0 0 0.00268 -0.000742 0 -0 0 1.437 0.1152 0 0 0.1152 0 0.218 0 0 -0.02103 0 -0 0 0.21355 0.132 0.04206 0 0 0 0 -0 0 1 1 1 model://spiri/meshes/spiri_base_bottom.dae 0 0 0.03025 0 -0 0 0.21355 0.132 0.0605 0 0 0 0 -0 0 1 1 1 model://spiri/meshes/spiri_base_top.dae 0.112711 0.112711 -0.001 0 -0 0.785398 0.2 0.014 0.11 0.042 0.042 -0.001 0 -0 0.785398 1 1 1 model://spiri/meshes/spiri_shank.dae -0.112711 0.112711 -0.001 0 -0 2.35619 0.2 0.014 0.11 -0.042 0.042 -0.001 0 -0 2.35619 1 1 1 model://spiri/meshes/spiri_shank.dae 0.112711 -0.112711 -0.001 0 0 -0.785398 0.2 0.014 0.11 0.042 -0.042 -0.001 0 0 -0.785398 1 1 1 model://spiri/meshes/spiri_shank.dae -0.112711 -0.112711 -0.001 0 0 -2.35619 0.2 0.014 0.11 -0.042 -0.042 -0.001 0 0 -2.35619 1 1 1 model://spiri/meshes/spiri_shank.dae 0 0 0 0 0 0 0 0 0 0 0 0 0.015 1e-05 0 0 1e-05 0 1e-05 imu_link base 1 0 0 0 0 0 0 0 0 1 0.165037 0.165037 0.042 0 -0 0.785398 0 0 0 0 -0 0 0.01 0.0005299083 0 0 0.0005235333 0 0.000011775 0 0 0.009 0 -0 0 0.033 0.25 0.018 0 0 0 0 -0 0.785398 1 1 1 model://spiri/meshes/spiri_propeller.dae propeller_LF base 0 0 1 -1e+16 1e+16 0 0 1 -0.165037 0.165037 0.042 0 -0 2.35619 0 0 0 0 -0 0 0.01 0.0005299083 0 0 0.0005235333 0 0.000011775 0 0 0.009 0 -0 0 0.033 0.25 0.018 0 0 0 0 -0 0.785398 1 1 1 model://spiri/meshes/spiri_propeller.dae propeller_LH base 0 0 1 -1e+16 1e+16 0 0 1 0.165037 -0.165037 0.042 0 0 -0.785398 0 0 0 0 -0 0 0.01 0.0005299083 0 0 0.0005235333 0 0.000011775 0 0 0.009 0 -0 0 0.033 0.25 0.018 0 0 0 0 -0 0.785398 1 1 1 model://spiri/meshes/spiri_propeller.dae propeller_RF base 0 0 1 -1e+16 1e+16 0 0 1 -0.165037 -0.165037 0.042 0 0 -2.35619 0 0 0 0 -0 0 0.01 0.0005299083 0 0 0.0005235333 0 0.000011775 0 0 0.009 0 -0 0 0.033 0.25 0.018 0 0 0 0 -0 0.785398 1 1 1 model://spiri/meshes/spiri_propeller.dae propeller_RH base 0 0 1 -1e+16 1e+16 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0.01 2.1733e-06 0 0 2.1733e-06 0 1.8e-07 0.01 0.002 0 0 0 0 0 0 1 2.0 4.0 0.0002 0.0004 0.2 0.4 base gps0::link base 10 shank_RF_to_propeller_RF propeller_RF ccw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 0 0.000175 1e-06 /motor_speed/0 10 shank_LH_to_propeller_LH propeller_LH ccw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 1 0.000175 1e-06 /motor_speed/1 10 shank_LF_to_propeller_LF propeller_LF cw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 2 0.000175 1e-06 /motor_speed/2 10 shank_RH_to_propeller_RH propeller_RH cw 0.0125 0.025 1100 5.84e-06 0.06 /gazebo/command/motor_speed 3 0.000175 1e-06 /motor_speed/3 10 100 0.0004 6.4e-06 600 /mag 50 /baro 0 /imu /mag /baro INADDR_ANY 4560 14560 0 /dev/ttyACM0 921600 INADDR_ANY 14550 INADDR_ANY 14540 0 0 0 1 1 1 /gazebo/command/motor_speed 0 0 1000 0 100 velocity 1 0 1000 0 100 velocity 2 0 1000 0 100 velocity 3 0 1000 0 100 velocity 4 1 324.6 0 0 velocity

0.1

0 0 0.0 0.0 2 -2 zephyr_delta_wing::propeller_joint 5 0 0.524 0 0 position zephyr_delta_wing::flap_left_joint

10.0

0 0 0 0 20 -20 6 0 0.524 0 0 position zephyr_delta_wing::flap_right_joint

10.0

0 0 0 0 20 -20 7 0 0.524 0 0 position imu_link /imu 0.00018665 3.8785e-05 1000.0 0.0087 0.00186 0.006 300.0 0.196