iris_stereo_gray_6_cam_highfreq_imu.sdf

<sdf version='1.6'>
  <model name='iris_stereo_gray_gps_6_aspect'>
    <link name='base_link'>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertial>
        <pose frame=''>0 0 -0 0 -0 0</pose>
        <mass>1.50001</mass>
        <inertia>
          <ixx>0.0347573</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0458939</iyy>
          <iyz>0</iyz>
          <izz>0.097701</izz>
        </inertia>
      </inertial>
      <collision name='base_link_fixed_joint_lump__/camera_red_iris_link_collision'>
        <pose frame=''>0 0 0.07 3.14159 1.57079 3.14159</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <collision name='base_link_inertia_collision_1'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.47 0.47 0.11</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_fixed_joint_lump__/camera_red_iris_link_visual'>
        <pose frame=''>0 0 -0.07 3.14159 6e-06 3.14159</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.05</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>__default__</uri>
            <name>__default__</name>
          </script>
        </material>
      </visual>
      <visual name='base_link_inertia_visual_1'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rotors_description/meshes/iris.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <velocity_decay/>
      <gravity>1</gravity>
      <velocity_decay/>

      <sensor type="multicamera" name="stereo_camera_forward">
      <pose frame=''>0 0 0.3 0 0 0</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/forward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <sensor type="multicamera" name="stereo_camera_backward">
      <pose frame=''>0 0 0.3 0 0 3.1415</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/backward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <sensor type="multicamera" name="stereo_camera_leftward">
      <pose frame=''>0 0 0.3 0 0 1.5708</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/leftward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <sensor type="multicamera" name="stereo_camera_rightward">
      <pose frame=''>0 0 0.3 0 0 -1.5708</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/rightward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <sensor type="multicamera" name="stereo_camera_upward">
      <pose frame=''>0 0 0.3 0 -1.5708 0</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/upward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <sensor type="multicamera" name="stereo_camera_downward">
      <pose frame=''>0 0 -0.3 0 1.5708 0</pose>
      <child>/multicamera_link</child>
      <parent>base_link</parent>
      <update_rate>30.0</update_rate>
      <camera name="right">
        <pose>0 0.12 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.5708</horizontal_fov>
        <image>
          <width>752</width>
          <height>480</height>
          <format>L8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.000</stddev>
        </noise>
      </camera>
      <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>gi/downward</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>left_camera_optical_frame</frameName>
        <!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
        <hackBaseline>0.05</hackBaseline>
        <Fx>376.0</Fx>
        <Fy>376.0</Fy>
        <Cx>376.0</Cx>
        <Cy>240.0</Cy>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>

    <!--useless-->
    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <parent>base_link</parent>
      <update_rate>500</update_rate>
      <visualize>true</visualize>
      <topic>imu_stereo</topic>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu_stereo</topicName>
        <bodyName>imu_link_stereo</bodyName>
        <updateRateHZ>500.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link_stereo</frameName>

        <gyroscopeNoiseDensity>0.0006</gyroscopeNoiseDensity>
        <gyroscopeRandomWalk>0.000003</gyroscopeRandomWalk>        
        <gyroscopeTurnOnBiasSigma>0.03</gyroscopeTurnOnBiasSigma>

        <accelerometerNoiseDensity>0.002</accelerometerNoiseDensity>
        <accelerometerRandomWalk>0.00002</accelerometerRandomWalk>
        <accelerometerTurnOnBiasSigma>0.1</accelerometerTurnOnBiasSigma>

      </plugin>
      <pose>0 0 0.3 0 0 0</pose>
    </sensor>


    <sensor type="gpu_ray" name="head_hokuyo_sensor">
      <pose>0 0 0.5 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>30</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-3.1415926</min_angle>
            <max_angle>3.1415926</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
       
      </ray>
      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/laser/scan</topicName>
        <frameName>map</frameName>
      </plugin>
    </sensor>

  
    </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>
    </link>
    <joint name='/imu_joint' type='revolute'>
      <child>/imu_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <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>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_0'>
      <pose frame=''>0.13 -0.22 0.023 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>
      <collision name='rotor_0_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <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/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_0_joint' type='revolute'>
      <child>rotor_0</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_1'>
      <pose frame=''>-0.13 0.2 0.023 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>
      <collision name='rotor_1_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <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/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_1_joint' type='revolute'>
      <child>rotor_1</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_2'>
      <pose frame=''>0.13 0.22 0.023 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>
      <collision name='rotor_2_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <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/Blue</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_2_joint' type='revolute'>
      <child>rotor_2</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_3'>
      <pose frame=''>-0.13 -0.2 0.023 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>
      <collision name='rotor_3_collision'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.128</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <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/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_3_joint' type='revolute'>
      <child>rotor_3</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
      <robotNamespace/>
      <linkName>base_link</linkName>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_right_motor_model' filename='libgazebo_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='libgazebo_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='libgazebo_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='libgazebo_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='gps_plugin' filename='libgazebo_gps_plugin.so'>
      <robotNamespace/>
      <gpsNoise>true</gpsNoise>
    </plugin>

    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace/>
      <imuSubTopic>/imu</imuSubTopic>
      <gpsSubTopic>/gps</gpsSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_udp_port>14560</mavlink_udp_port>
      <serialEnabled>0</serialEnabled>
      <serialDevice>/dev/ttyACM0</serialDevice>
      <baudRate>921600</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <hil_mode>0</hil_mode>
      <hil_state_level>0</hil_state_level>
      <vehicle_is_tailsitter>0</vehicle_is_tailsitter>
      <send_odometry>0</send_odometry>
      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
      <control_channels>
        <channel name='rotor1'>
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</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>0</input_offset>
          <input_scaling>1000</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>0</input_offset>
          <input_scaling>1000</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>0</input_offset>
          <input_scaling>1000</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>
    <static>0</static>
    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_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>

      <update_rate>500</update_rate>
      <updateRateHZ>500.0</updateRateHZ>

    </plugin>
  </model>
</sdf>