model://iris_base 0.18 0 .2 0 0 0 .01 .01 .01 0.01 0.01 0.01 0.1 0.001 0 0 0.001 0 0.001 true 10 10 1 -0.14835 0.14835 10 1 -0.14835 0.14835 0.06 7 0.02 0.005 true 50 /mavros/distance_sensor/front base_sonar_front INFRARED 0.2967 0 0 0 0 0 0 iris::base_link base_sonar_front 0 0 0 0 1 true 0 0.18 .2 0 0 1.57 .01 .01 .01 0.01 0.01 0.01 0.1 0.001 0 0 0.001 0 0.001 true 10 10 1 -0.14835 0.14835 10 1 -0.14835 0.14835 0.06 7 0.02 0.005 true 50 /mavros/distance_sensor/left base_sonar_left INFRARED 0.2967 0 0 0 0 0 0 iris::base_link base_sonar_left 0 0 0 0 1 true 0 -0.18 .2 0 0 -1.57 .01 .01 .01 0.01 0.01 0.01 0.1 0.001 0 0 0.001 0 0.001 true 10 10 1 -0.14835 0.14835 10 1 -0.14835 0.14835 0.06 7 0.02 0.005 true 50 /mavros/distance_sensor/right base_sonar_right INFRARED 0.2967 0 0 0 0 0 0 iris::base_link base_sonar_right 0 0 0 0 1 true -0.18 0 0.2 0 0 3.14 .01 .01 .01 0.01 0.01 0.01 0.1 0.001 0 0 0.001 0 0.001 true 10 10 1 -0.14835 0.14835 10 1 -0.14835 0.14835 0.06 7 0.02 0.005 true 50 /mavros/distance_sensor/back base_sonar_back INFRARED 0.2967 0 0 0 0 0 0 iris::base_link base_sonar_back 0 0 0 0 1 true 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 iris::rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 iris::rotor_0 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 1 0 0 0 1 iris::rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 -1 0 0 0 1 iris::rotor_1 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 iris::rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 iris::rotor_2 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 0.084 0 0 0 -1 0 0 0 1 iris::rotor_3 0.3 1.4 4.2500 0.10 0.00 -0.025 0.0 0.0 0.002 1.2041 -0.084 0 0 0 1 0 0 0 1 iris::rotor_3 127.0.0.1 9002 9003 0 0 0 3.141593 0 0 0 0 0 3.141593 0 0 iris::iris/imu_link::imu_sensor 5 VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 iris::rotor_0_joint 838 1 VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 iris::rotor_1_joint 838 1 VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 iris::rotor_2_joint -838 1 VELOCITY 0 0.20 0 0 0 0 2.5 -2.5 iris::rotor_3_joint -838 1