0 0 0.194923 0 0 0 0 0 0 0 0 0 1.5 0.029125 0 0 0.029125 0 0.055225 0 0 -0.08 0 0 0 0.47 0.47 0.11 0 0 0 0 0 0 model://iris/meshes/iris.dae 1 1 1 0 0 0 0 0 0 0.3 0.3 0.1 0.2 0.2 0.8 1 0.2 0.2 0.8 1 true 200 00.0003 00.0003 00.0003 00.017 00.017 00.017 0.13 -0.22 0.023 0 0 0 0.025 9.75e-0600 0.00016670400.000167604 0.10.01 0.1 0.1 0.1 1 base_link rotor_0 0 0 1 -1e161e16 -0.13 0.22 0.023 0 0 0 0.025 9.75e-0600 0.00016670400.000167604 0.10.01 0.1 0.1 0.1 1 base_link rotor_1 0 0 1 -1e161e16 0.13 0.22 0.023 0 0 0 0.025 9.75e-0600 0.00016670400.000167604 0.10.01 0.1 0.1 0.1 1 base_link rotor_2 0 0 1 -1e161e16 -0.13 -0.22 0.023 0 0 0 0.025 9.75e-0600 0.00016670400.000167604 0.10.01 0.1 0.1 0.1 1 base_link rotor_3 0 0 1 -1e161e16 0.1 0 0 0 0 0 0.01 1e-500 1e-501e-5 0.02 0.02 0.02 0 0 0 1 1.57 640 480 R8G8B8 0.1100 1 30 true /uav image_raw:=camera/forward/image_raw camera_info:=camera/forward/camera_info forward_camera forward_camera_link base_link forward_camera_link 0 0 -0.05 0 1.5708 0 0.01 1e-500 1e-501e-5 1.2 320 240 R8G8B8 0.150 1 60 false /uav image_raw:=camera/downward/image_raw camera_info:=camera/downward/camera_info downward_camera downward_camera_link base_link downward_camera_link 127.0.0.1 9002 9003 0 0 0 3.141593 0 0 0 0 0 3.141593 0 0 iris_with_ardupilot::base_link::imu_sensor 5 rotor_0_joint VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 838 rotor_1_joint VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 838 rotor_2_joint VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 -838 rotor_3_joint VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 -838