-0.018936 0.0001352 -0.081280 0 -0 0 39.5332 0.194612 3.303707e-07 2.219022e-13 0.4849035 4.8310771e-10 0.576687 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/base_link.STL 0.53793 0 0.051 0 -0 0 1 1 1 model://big_quadrotor/meshes/uarm_baselink.STL 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/base_link.STL 0.53793 0 0.051 0 -0 0 1 1 1 model://big_quadrotor/meshes/uarm_baselink.STL 0 0 0.02 0 0 0 0 0 0 0 0 0 0.015 1e-05 0 0 1e-05 0 1e-05 /imu_link base_link 1 0 0 0 0 0 0 0 0 1 0.60093 0.60093 -0.1352 0 -0 0 base_link rotor_2 0 0 -1 -1e+16 1e+16 0 0 0 0 0 0 -0 0 -1e-06 -1.2e-05 -0.024177 0 -0 0 2.4889 0.26697 -0.0046822 -7.1151e-09 0.0020804 1.981e-08 0.26754 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_0.STL 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_0.STL 0.60093 -0.60093 -0.1352 0 -0 0 base_link rotor_0 0 0 -1 -1e+16 1e+16 0 0 0 0 0 0 -0 0 -1e-06 1.3e-05 -0.024178 0 -0 0 2.48889 0.266965 0.00468223 -1.09644e-08 0.00208044 1.0591e-08 0.267542 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_1.STL 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_1.STL -0.60093 0.60093 -0.1352 0 -0 0 base_link rotor_1 0 0 -1 -1e+16 1e+16 0 0 0 0 0 0 -0 0 -1e-06 1.3e-05 -0.024178 0 -0 0 2.48889 0.266965 0.00468223 -1.09654e-08 0.00208044 1.06275e-08 0.267542 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_2.STL 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_2.STL -0.60093 -0.60093 -0.1352 0 -0 0 base_link rotor_3 0 0 -1 -1e+16 1e+16 0 0 0 0 0 0 -0 0 -1e-06 -1.2e-05 -0.024177 0 -0 0 2.48887 0.266967 -0.00468208 -3.43828e-09 0.00208039 5.45279e-08 0.267544 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_3.STL 0 0 0 0 -0 0 1 1 1 model://big_quadrotor/meshes/rotor_3.STL base_link 10 rotor_0_joint rotor_0 ccw 0.025 0.025 600 5.84e-04 0.06 /gazebo/command/motor_speed 0 0.000175 1e-06 /motor_speed/0 10 rotor_1_joint rotor_1 ccw 0.025 0.025 600 5.84e-04 0.06 /gazebo/command/motor_speed 1 0.000175 1e-06 /motor_speed/1 10 rotor_2_joint rotor_2 cw 0.025 0.025 600 5.84e-04 0.06 /gazebo/command/motor_speed 2 0.000175 1e-06 /motor_speed/2 10 rotor_3_joint rotor_3 cw 0.025 0.025 600 5.84e-04 0.06 /gazebo/command/motor_speed 3 0.000175 1e-06 /motor_speed/3 10 model://gps 0.05 0 0.04 0 0 0 gps0 0 0 0.0 -3.14159 0 0 gps0::link base_link 100 0.0004 6.4e-06 600 /mag 50 /baro 0 /imu /mag /baro INADDR_ANY 4560 14560 false 57600 INADDR_ANY 14550 INADDR_ANY 14540 false 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 0 /imu_link /imu 0.53793 0 0.051 0 0 0 base_link arm_base 1 0.9 0.0001 0.4 0 0 0 0 -0 0 -0.00335 -0.000136 0.024958 0 -0 0 0.472475 0.00037937 -3.5e-07 -1.037e-05 0.00041521 -9.9e-07 0.00053066 0 0 0.0255 0 -0 0 0.051 0.0325 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link00.dae 0 0 0.0585 0 -0 0 arm_base link01 0 0 1 -2.61799 2.61799 30 3.1415 1 1 0 0 0 0 0 0 -0 0 2e-06 -0.000252 0.023172 0 -0 0 0.673326 0.00128328 -6e-08 -4e-07 0.00071931 5e-07 0.00083936 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link01.dae 0 0 0.045 0 -0 0 link01 link02 0 1 0 0 2.96706 60 3.1415 2 2 0 0 0 0 0 0 -0 0 -0.110126 0.0024 0.001583 0 -0 0 1.19132 0.00102138 0.00062358 5.13e-06 0.0242946 -2.1e-06 0.0246611 0 0 0 1.5708 -0 0 0.102 0.0325 -0.1625 0 0 0 1.5708 0 0.235 0.0225 -0.35 0 0 1.5708 -0 0 0.051 0.0325 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link02.dae -0.35 0 0 0 -0 0 link02 link03 0 1 0 -2.87979 0 30 3.1415 1 1 0 0 0 0 0 0 -0 0 0.106092 -0.005418 0.034764 0 -0 0 0.839409 0.00108061 -8.669e-05 -0.00208102 0.00954238 -1.332e-05 0.00886621 0.128 0 0.055 0 1.5708 0 0.116 0.02 0.2205 0 0.055 -1.5708 1.5708 0 0.059 0.0325 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link03.dae 0.218 0 0.057 0 -0 0 link03 link04 0 1 0 -1.51844 1.51844 30 3.1415 1 1 0 0 0 0 0 0 -0 0 0.043667 0.003647 -0.001702 0 -0 0 0.564046 0.00031576 8.13e-05 4.091e-05 0.00092996 -5.96e-06 0.00097912 0.072 0 0 0 -0 0 0.067 0.0325 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link04.dae 1 0.07 0 0 0 -0 0 link04 link05 0 0 1 -1.3439 1.3439 30 3.1415 1 1 0 0 0 0 0 0 -0 0 0.031215 0 0.006463 0 -0 0 0.389385 0.00017605 4e-07 5.689e-05 0.00055896 -1.3e-07 0.0005386 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link05.dae 1 0.0492 0 0 0 -0 0 link05 link06 1 0 0 -2.79253 2.79253 30 3.1415 1 1 0 0 0 0 0 0 -0 0 0.072246 -0.000293 -0.002118 0 -0 0 0.814795 0.000570323 1.93955e-07 9.17803e-05 0.0018682 2.13376e-06 0.00184409 0.0255 0 0 0 1.5708 0 0.051 0.0325 0.051 0 0 0 -0 0 1 1 1 model://z1_description/meshes/collision/z1_GripperStator.STL 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_Link06.dae 0.051 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_GripperStator.dae 1 0.1 0 0 0 -0 0 link06 gripperMover 0 1 0 -1.5708 0 30 3.1415 1 1 0 0 0 0 0 0 -0 0 0.013206 0.004767 0.003805 0 -0 0 0.276213 0.00017716 1.683e-05 -1.786e-05 0.00026787 2.62e-06 0.00035728 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/collision/z1_GripperMover.STL 0 0 0 0 -0 0 1 1 1 model://z1_description/meshes/visual/z1_GripperMover.dae 1 /z1_gazebo gazebo_ros_control/DefaultRobotHWSim 0.53793 0 0.051 0 -0 0 0 0 0 0 -0 0 0.051 0 0 0 -0 0 0 0 0 0 -0 0