model://iris_with_standoffs model://gimbal_small_3d gimbal 0 -0.01 -0.124923 90 0 90 iris_with_standoffs::base_link gimbal::base_link 0 0 0 0 1 0 0 -0.05 0 0 0 0.01 0.00001 0 0 0.00001 0 0.00001 0 0 0 0 1.5708 0 1 10 1 /uav/camera/downward 1.3962634 640 480 R8G8B8 0.1 100 iris_with_standoffs::base_link downward_cam_link 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 iris_with_standoffs::rotor_0 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 iris_with_standoffs::rotor_0 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 iris_with_standoffs::rotor_1 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 iris_with_standoffs::rotor_1 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 iris_with_standoffs::rotor_2 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 iris_with_standoffs::rotor_2 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 iris_with_standoffs::rotor_3 0.3 1.4 4.2500 0.10 0.0 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 iris_with_standoffs::rotor_3 iris_with_standoffs::rotor_0_joint iris_with_standoffs::rotor_1_joint iris_with_standoffs::rotor_2_joint iris_with_standoffs::rotor_3_joint 127.0.0.1 9002 5 1 0 0 0 180 0 0 0 0 0 180 0 90 iris_with_standoffs::imu_link::imu_sensor iris_with_standoffs::rotor_0_joint 1 838 0 1100 1900 VELOCITY 0.20 0 0 0 0 2.5 -2.5 1 iris_with_standoffs::rotor_1_joint 1 838 0 1100 1900 VELOCITY 0.20 0 0 0 0 2.5 -2.5 1 iris_with_standoffs::rotor_2_joint 1 -838 0 1100 1900 VELOCITY 0.20 0 0 0 0 2.5 -2.5 1 iris_with_standoffs::rotor_3_joint 1 -838 0 1100 1900 VELOCITY 0.20 0 0 0 0 2.5 -2.5 1 gimbal::roll_joint 1.047197551196 -0.5 1100 1900 COMMAND /gimbal/cmd_roll 2 gimbal::pitch_joint -3.14159265 -0.75 1100 1900 COMMAND /gimbal/cmd_pitch 2 gimbal::yaw_joint -5.5850536 -0.5 1100 1900 COMMAND /gimbal/cmd_yaw 2 gimbal::roll_joint /gimbal/cmd_roll 2 gimbal::pitch_joint /gimbal/cmd_pitch 2 gimbal::yaw_joint /gimbal/cmd_yaw 2