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<?xml version='1.0'?>
<sdf version='1.5'>
<model name='f450'>
<link name='base_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>2</mass>
<inertia>
<ixx>0.0337</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0337</iyy>
<iyz>0</iyz>
<izz>0.0185</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<velocity_decay/>
<gravity>1</gravity>
<visual name='base_link_inertia_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://f450/meshes/f450.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/White</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_link_inertia_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://f450/meshes/f450.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='/imu_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<link name='f450/robot_camera'>
<pose frame=''>0.12 -0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-06</iyy>
<iyz>0</iyz>
<izz>1e-06</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<sensor name='camera' type='camera'>
<always_on>1</always_on>
<update_rate>30</update_rate>
<camera name='__default__'>
<horizontal_fov>1</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<imageTopicName>image_raw_front</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<updateRate>10.0</updateRate>
<cameraName>uav_camera</cameraName>
<frameName>f450/robot_camera</frameName>
<CxPrime>320.5</CxPrime>
<Cx>320.5</Cx>
<Cy>240.5</Cy>
<hackBaseline>0</hackBaseline>
<focalLength>10</focalLength>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/</robotNamespace>
</plugin>
</sensor>
<visual name='visual'>
<geometry>
<box>
<size>0.001 0.001 0.001</size>
</box>
</geometry>
<pose frame=''>0 0 0 0 -0 0</pose>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
<material>
<shader type='pixel'/>
</material>
</visual>
</link>
<link name='f450/robot_camera_down'>
<pose frame=''>-0.12 -0 0.01 -9.4e-05 1.57079 -9.4e-05</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-06</iyy>
<iyz>0</iyz>
<izz>1e-06</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<sensor name='camera' type='camera'>
<always_on>1</always_on>
<update_rate>30</update_rate>
<camera name='__default__'>
<horizontal_fov>1</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<imageTopicName>image_raw_down</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<updateRate>10.0</updateRate>
<cameraName>uav_camera</cameraName>
<frameName>f450/robot_camera_down</frameName>
<CxPrime>320.5</CxPrime>
<Cx>320.5</Cx>
<Cy>240.5</Cy>
<hackBaseline>0</hackBaseline>
<focalLength>1</focalLength>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/</robotNamespace>
</plugin>
</sensor>
<visual name='visual'>
<geometry>
<box>
<size>0.001 0.001 0.001</size>
</box>
</geometry>
<pose frame=''>0 0 0 0 -0 0</pose>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
<material>
<shader type='pixel'/>
</material>
</visual>
</link>
<link name='f450/robot_sonar_down'>
<pose frame=''>-0.15 0 0.01 -9.4e-05 1.57079 -9.4e-05</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-06</iyy>
<iyz>0</iyz>
<izz>1e-06</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<sensor name='sonar' type='ray'>
<always_on>1</always_on>
<update_rate>100</update_rate>
<ray>
<range>
<min>0.2</min>
<max>40</max>
<resolution>0.01</resolution>
</range>
<scan>
<horizontal>
<samples>100</samples>
<min_angle>-3</min_angle>
<max_angle>3</max_angle>
<resolution>1</resolution>
</horizontal>
</scan>
</ray>
<plugin name='gazebo_ros_sonar_controller' filename='libhector_gazebo_ros_sonar.so'>
<gaussianNoise>0.02</gaussianNoise>
<topicName>sonar</topicName>
<frameId>sonar_link</frameId>
<robotNamespace>/</robotNamespace>
</plugin>
</sensor>
<visual name='visual'>
<geometry>
<box>
<size>0.001 0.001 0.001</size>
</box>
</geometry>
<pose frame=''>0 0 0 0 -0 0</pose>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
<material>
<shader type='pixel'/>
</material>
</visual>
</link>
<link name='rotor_0'>
<pose frame=''>0.159 -0.159 0.11 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<velocity_decay/>
<visual name='rotor_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='pixel'/>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rotor_0_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.128</radius>
<length>0.005</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='rotor_1'>
<pose frame=''>-0.159 0.159 0.11 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<velocity_decay/>
<visual name='rotor_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='pixel'/>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rotor_1_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.128</radius>
<length>0.005</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='rotor_2'>
<pose frame=''>0.159 0.159 0.11 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<velocity_decay/>
<visual name='rotor_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='pixel'/>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rotor_2_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.128</radius>
<length>0.005</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='rotor_3'>
<pose frame=''>-0.159 -0.159 0.11 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000273104</iyy>
<iyz>0</iyz>
<izz>0.000274004</izz>
</inertia>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<velocity_decay/>
<visual name='rotor_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='pixel'/>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rotor_3_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.128</radius>
<length>0.005</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name='/imu_joint' type='revolute'>
<parent>base_link</parent>
<child>/imu_link</child>
<axis>
<xyz>1 0 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='f450/down_cam_joint' type='revolute'>
<parent>base_link</parent>
<child>f450/robot_camera_down</child>
<axis>
<xyz>1 0 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='f450/down_sonar_joint' type='revolute'>
<parent>base_link</parent>
<child>f450/robot_sonar_down</child>
<axis>
<xyz>1 0 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='f450/front_cam_joint' type='revolute'>
<parent>base_link</parent>
<child>f450/robot_camera</child>
<axis>
<xyz>1 0 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='rotor_0_joint' type='revolute'>
<parent>base_link</parent>
<child>rotor_0</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='rotor_1_joint' type='revolute'>
<parent>base_link</parent>
<child>rotor_1</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='rotor_2_joint' type='revolute'>
<parent>base_link</parent>
<child>rotor_2</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='rotor_3_joint' type='revolute'>
<parent>base_link</parent>
<child>rotor_3</child>
<axis>
<xyz>0 0 1</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<plugin name='rosbag' filename='librotors_gazebo_multirotor_base_plugin.so'>
<robotNamespace/>
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace/>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace/>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace/>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace/>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='mavlink_interface' filename='librotors_gazebo_mavlink_interface.so'>
<robotNamespace/>
<imuSubTopic>/imu</imuSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_udp_port>14560</mavlink_udp_port>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name='rotor1'>
<input_index>0</input_index>
<input_offset>1</input_offset>
<input_scaling>550</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor2'>
<input_index>1</input_index>
<input_offset>1</input_offset>
<input_scaling>550</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor3'>
<input_index>2</input_index>
<input_offset>1</input_offset>
<input_scaling>550</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor4'>
<input_index>3</input_index>
<input_offset>1</input_offset>
<input_scaling>550</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor5'>
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>324.6</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
</joint_control_pid>
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
</channel>
<channel name='rotor6'>
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor7'>
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor8'>
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
</channel>
</control_channels>
</plugin>
<plugin name='rotors_gazebo_imu_plugin' filename='librotors_gazebo_imu_plugin.so'>
<robotNamespace/>
<linkName>/imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
<!-- #################################### HOKUYO SENSOR ############################################-->
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visual">
<pose> 0.03 -0.035 0.105 1.57 0 3.14</pose>
<geometry>
<mesh>
<scale>0.0005 0.0005 0.0005</scale>
<uri>model://hokuyo/meshes/TOWER.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<!-- ################################# HOKUYO PLUGIN #################################################-->
<sensor type="ray" name="laser">
<pose>-0.005 -0.00 0.125 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1</resolution>
<min_angle>-1.57</min_angle>
<max_angle>1.57</max_angle>
</horizontal>
</scan>
<range>
<min>0.20</min>
<max>7.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="link_laser_controller" filename="libgazebo_ros_laser.so">
<topicName>laser_scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</link>
<joint name='lidar_joint' type='fixed'>
<child>hokuyo_link</child>
<parent>base_link</parent>
</joint>
<! #################################### HOKUYO SENSOR (GROUND) ############################################-->
<!-- Hokuyo Laser -->
<link name="hokuyo_link_2">
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name="visualground">
<pose> 0.27 -0.024 0.045 -1.57 0 1.57</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://hokuyo/meshes/LIDAR.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<! ################################# HOKUYO PLUGIN #################################################-->
<sensor type="ray" name="laser">
<pose>0.265 0 0 0 1.57 3.14</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>3</samples>
<resolution>1</resolution>
<min_angle>-0.005</min_angle>
<max_angle>0.005</max_angle>
</horizontal>
</scan>
<range>
<min>0.01</min>
<max>40.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="link_laser_controller" filename="libgazebo_ros_laser.so">
<topicName>laser_height</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</link>
<joint name='lidar_ground_joint' type='fixed'>
<child>hokuyo_link_2</child>
<parent>base_link</parent>
</joint>
</model>
</sdf>
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