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286 lines
8.4 KiB
XML
286 lines
8.4 KiB
XML
<?xml version='1.0'?>
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<sdf version="1.6" >
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<model name="drone_with_camera">
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<include>
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<uri>model://iris_base</uri>
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</include>
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<link name="cam_link">
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<pose>0 0 -0.02 0 0 0 </pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.001</ixx>
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<iyy>0.001</iyy>
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<izz>0.001</izz>
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</inertia>
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</inertial>
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<!-- <collision name="collision">
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<geometry>
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<cylinder>
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<radius>.005</radius>
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<length>.018</length>
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</cylinder>
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</geometry>
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</collision> -->
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<visual name='cam_link'>
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<pose>0 0 0.15 0 1.5707 0</pose>
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<geometry>
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<cylinder>
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<radius>.005</radius>
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<length>.018</length>
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</cylinder>
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</geometry>
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</visual>
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<sensor name="cam" type="camera" >
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<pose>0 0 0.15 0 0 0</pose>
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<camera>
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<horizontal_fov>1.2</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>1000</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<always_on>true</always_on>
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<update_rate>30</update_rate>
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<cameraName>webcam</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>camera_link</frameName>
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</plugin>
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</sensor>
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</link>
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<joint name="camera_mount" type="fixed">
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<child>cam_link</child>
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<parent>iris::base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<upper>0</upper>
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<lower>0</lower>
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</limit>
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</axis>
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</joint>
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<!-- plugins -->
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<plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
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<fdm_addr>127.0.0.1</fdm_addr>
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<fdm_port_in>9002</fdm_port_in>
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<fdm_port_out>9003</fdm_port_out>
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<!--
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Require by APM :
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Only change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
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<imuName>iris::iris/imu_link::imu_sensor</imuName>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<control channel="0">
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<!--
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incoming control command [0, 1]
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so offset it by 0 to get [0, 1]
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and divide max target by 1.
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offset = 0
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multiplier = 838 max rpm / 1 = 838
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-->
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_0_joint</jointName>
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<multiplier>838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="1">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_1_joint</jointName>
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<multiplier>838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="2">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_2_joint</jointName>
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<multiplier>-838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="3">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_3_joint</jointName>
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<multiplier>-838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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</plugin>
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</model>
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</sdf>
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