typhoon_h480.sdf.jinja

<!-- DO NOT EDIT: Generated from iris.sdf.jinja -->
<sdf version='1.5'>
  <model name='typhoon_h480'>
    <!-- Typhoon H body -->
    <pose>0 0 0.26 0 0 0.0</pose>
    <link name='base_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <!-- rear reference point X: -100.044mm, CAD offset: 1001.049mm -->
        <!-- top reference point Z: 33.8663mm, CAD offset: 42.8698mm -->
        <pose>0.001005 0 -0.0090035 0 0 0</pose>
        <mass>2.02</mass>
        <inertia>
          <ixx>0.011</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.015</iyy>
          <iyz>0</iyz>
          <izz>0.021</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 0.0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.67 0.67 0.15</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_visual'>
        <pose>0 0 0 0 0 3.141592</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/main_body_remeshed_v3.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <!--
      <visual name='rotor_0_prop_guard_jybhz'>
        <pose>0 0 0 0 0 3.14159265359</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='rotor_1_prop_guard_jybhz'>
        <pose>0 0 0 0 0 -1.0471975512</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='rotor_2_prop_guard_jybhz'>
        <pose>0 0 0 0 0 -2.09439510239</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='rotor_3_prop_guard_jybhz'>
        <pose>0 0 0 0 0 2.09439510239</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='rotor_4_prop_guard_jybhz'>
        <pose>0 0 0 0 0 1.0471975512</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name='rotor_5_prop_guard_jybhz'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_guard_jybhz.stl</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/>
      <self_collide>0</self_collide>
    </link>

    <link name="cgo3_mount_link">
      <inertial>
        <!-- place holder -->
        <pose>-0.041 0 -0.162 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <visual name='cgo3_mount_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/cgo3_mount_remeshed_v1.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
    <joint name='cgo3_mount_joint' type='revolute'>
      <child>cgo3_mount_link</child>
      <parent>base_link</parent>
      <pose>0 0 0 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>

    <link name="cgo3_vertical_arm_link">
      <inertial>
        <!-- place holder -->
        <pose>-0.041 0 -0.162 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <visual name='cgo3_vertical_arm_visual'>
        <pose>-0.051 0 0 0 0 3.141592</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/cgo3_vertical_arm_remeshed_v1.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
    <joint name='cgo3_vertical_arm_joint' type='revolute'>
      <child>cgo3_vertical_arm_link</child>
      <parent>cgo3_mount_link</parent>
      <pose>-0.026 0 -0.10 0 0 0</pose>
      <!--
      <controlIndex>6</controlIndex>
      -->
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e16</lower>
          <upper>1e16</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
          <limit>
            <!-- testing soft limits -->
            <cfm>0.1</cfm>
            <erp>0.2</erp>
          </limit>
        </ode>
      </physics>
    </joint>

    <link name="cgo3_horizontal_arm_link">
      <inertial>
        <!-- place holder -->
        <pose>-0.041 0 -0.081 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <visual name='cgo3_horizontal_arm_visual'>
        <pose>-0.05 0 0 0 0 3.141592</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/cgo3_horizontal_arm_remeshed_v1.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
    <joint name='cgo3_horizontal_arm_joint' type='revolute'>
      <child>cgo3_horizontal_arm_link</child>
      <parent>cgo3_vertical_arm_link</parent>
      <pose>-0.07 0 -0.162 0 0 0</pose>
      <!--
      <controlIndex>7</controlIndex>
      -->
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.785398</lower>
          <upper>0.785398</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
          <limit>
            <!-- testing soft limits -->
            <cfm>0.1</cfm>
            <erp>0.2</erp>
          </limit>
        </ode>
      </physics>
    </joint>

    <link name="cgo3_camera_link">
      <inertial>
        <!-- place holder -->
        <pose>-0.041 0 -0.162 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='cgo3_camera_collision'>
        <pose>-0.041 0 -0.162 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.035</radius>
          </sphere>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1e+8</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name='cgo3_camera_visual'>
        <pose>-0.05 0 0 0 0 3.141592</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/cgo3_camera_remeshed_v1.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <sensor name="camera_imu" type="imu">
        <always_on>1</always_on>
      </sensor>
      <sensor name="camera" type="camera">
        <pose>0.0 0 -0.162 0 0 0</pose>
 	 <mass> 0.1 </mass>
           <camera name='__default__'>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>1920</width>
              <height>1080</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <lens>
              <type>custom</type>
              <custom_function>
                <c1>1.05</c1>
                <c2>4</c2>
                <f>1</f>
                <fun>tan</fun>
              </custom_function>
              <scale_to_hfov>1</scale_to_hfov>
              <cutoff_angle>3.1415</cutoff_angle>
              <env_texture_size>1080</env_texture_size>
            </lens>
          </camera>
        <always_on>1</always_on>
        <update_rate>10</update_rate>
        <visualize>true</visualize>
          <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'>
              <robotNamespace></robotNamespace>
            <alwaysOn>true</alwaysOn>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <updateRate>10.0</updateRate>
            <cameraName>usb_cam</cameraName>
            <frameName>/robot_camera_link</frameName>
            <CxPrime>1920.5</CxPrime>
            <Cx>1920.5</Cx>
            <Cy>1080.5</Cy>
            <hackBaseline>0</hackBaseline>
            <focalLength>277.191356</focalLength>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
          </plugin>
        <plugin name="GstCameraPlugin" filename="libgazebo_gst_camera_plugin.so">
            <robotNamespace></robotNamespace>
            <udpPort>5600</udpPort>
        </plugin>
      </sensor>
    </link>
    <joint name='cgo3_camera_joint' type='revolute'>
      <child>cgo3_camera_link</child>
      <parent>cgo3_horizontal_arm_link</parent>
      <pose>-0.01 0.03 -0.162 0 0 0</pose>
      <axis>
        <xyz>0 -1 0</xyz>
        <limit>
          <lower>-2.09</lower>
          <upper>2.09</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
          <limit>
            <!-- testing soft limits -->
            <cfm>0.1</cfm>
            <erp>0.2</erp>
          </limit>
        </ode>
      </physics>
    </joint>

    <link name="left_leg">
      <inertial>
        <!-- place holder -->
        <pose>0 -0.14314 -0.207252 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <pose>-0.005 -0.14314 -0.207252 0 1.56893 0</pose>
        <geometry>
          <cylinder>
            <radius>0.012209</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1e+8</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <collision name='collision_bar'>
        <pose>0.00052 -0.08503 -0.121187 -0.501318 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.00914984</radius>
            <length>0.176893</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1e+8</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name='base_link_left_leg'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/leg2_remeshed_v3.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
    <joint name='left_leg_joint' type='revolute'>
      <child>left_leg</child>
      <parent>base_link</parent>
      <pose>0.00026 -0.040515 -0.048 0 0 0</pose>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>1</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
          <stiffness>100000000</stiffness>
          <dissipation>1</dissipation>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>

    <link name="right_leg">
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <!-- place holder -->
        <pose>0 0.14314 -0.207252 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <pose>-0.005 0.14314 -0.207252 0 1.56893 0</pose>
        <geometry>
          <cylinder>
            <radius>0.012209</radius>
            <length>0.3</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1e+8</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <collision name='collision_bar'>
        <pose>0.00052 0.08503 -0.121187 0.501318 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.00914984</radius>
            <length>0.176893</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
            </ode>
          </friction>
          <contact>
            <ode>
              <kp>1e+8</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
      <visual name='base_link_right_leg'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/leg1_remeshed_v3.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
    </link>
    <joint name='right_leg_joint' type='revolute'>
      <child>right_leg</child>
      <parent>base_link</parent>
      <pose>0.00026 0.040515 -0.048 0 0 0</pose>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>1</upper>
          <effort>100</effort>
          <velocity>-1</velocity>
          <stiffness>100000000</stiffness>
          <dissipation>1</dissipation>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>

    <link name='typhoon_h480/imu_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>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='typhoon_h480/imu_joint' type='revolute'>
      <child>typhoon_h480/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_3'>
      <pose>0.211396 0.119762 0.082219 0 0 0</pose>
      <inertial>
        <pose>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>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>-0.211396 -0.119762 -0.082219 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_ccw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </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>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
    <link name='rotor_0'>
      <pose>-0.209396 0.122762 0.082219 0 0 2.09439510239</pose>
      <inertial>
        <pose>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>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>-0.211396 -0.119762 -0.082219 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_ccw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </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>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
    <link name='rotor_4'>
      <pose>-0.00187896 0.242705 0.0822169 0 0 0</pose>
      <inertial>
        <pose>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_4_collision'>
        <pose>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_4_visual'>
        <pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_cw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </link>
    <joint name='rotor_4_joint' type='revolute'>
      <child>rotor_4</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
    <link name='rotor_1'>
      <pose>0.211396 -0.119762 0.082219 0 0 -2.09439510239</pose>
      <inertial>
        <pose>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>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>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_cw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </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>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>

    <link name='rotor_5'>
      <pose>-0.00187896 -0.242705 0.0822169 0 0 -2.09439510239</pose>
      <inertial>
        <pose>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_5_collision'>
        <pose>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_5_visual'>
        <pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_ccw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </link>
    <joint name='rotor_5_joint' type='revolute'>
      <child>rotor_5</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>
    <link name='rotor_2'>
      <pose>-0.209396 -0.122762 0.082219 0 0 2.09439510239</pose>
      <inertial>
        <pose>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>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>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://typhoon_h480/meshes/prop_cw_assembly_remeshed_v3.stl</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/>
      <self_collide>0</self_collide>
    </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>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
        <dynamics>
          <damping>0.005</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>
    </joint>

    <include>
      <uri>model://sonar</uri>
      <pose>0.08 0 -0.03 0 0 3.141592</pose>
    </include>
    <joint name="sonar_joint" type="revolute">
      <child>sonar::link</child>
      <parent>typhoon_h480::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>


    <include>
      <uri>model://gps</uri>
      <pose>0 0 0 0 0 0</pose>
      <name>gps</name>
    </include>
    <joint name='gps_joint' type='fixed'>
      <child>gps::link</child>
      <parent>base_link</parent>
    </joint>


    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
      <robotNamespace></robotNamespace>
      <linkName>base_link</linkName>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>8.54858e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>5</motorNumber>
      <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>8.54858e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>4</motorNumber>
      <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</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='back_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</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_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_4_joint</jointName>
      <linkName>rotor_4</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</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></robotNamespace>
      <jointName>rotor_5_joint</jointName>
      <linkName>rotor_5</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</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='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
      <robotNamespace/>
    </plugin>
    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
      <robotNamespace/>
      <pubRate>100</pubRate>
      <noiseDensity>0.0004</noiseDensity>
      <randomWalk>6.4e-06</randomWalk>
      <biasCorrelationTime>600</biasCorrelationTime>
      <magTopic>/mag</magTopic>
    </plugin>
    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
      <robotNamespace/>
      <pubRate>50</pubRate>
      <baroTopic>/baro</baroTopic>
    </plugin>
    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace></robotNamespace>
      <imuSubTopic>/imu</imuSubTopic>
      <magSubTopic>/mag</magSubTopic>
      <baroSubTopic>/baro</baroSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
      <mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
      <serialEnabled>{{ serial_enabled }}</serialEnabled>
      <serialDevice>{{ serial_device }}</serialDevice>
      <baudRate>{{ serial_baudrate }}</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <sdk_addr>INADDR_ANY</sdk_addr>
      <sdk_udp_port>14540</sdk_udp_port>
      <hil_mode>{{ hil_mode }}</hil_mode>
      <hil_state_level>false</hil_state_level>
      <enable_lockstep>true</enable_lockstep>
      <use_tcp>true</use_tcp>
      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
      <control_channels>
        <channel name="rotor0">
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="rotor1">
          <input_index>1</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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>2</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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>3</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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>4</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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>5</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="gimbal_roll">
          <input_index>6</input_index>
          <input_offset>0</input_offset>
          <input_scaling>-3.1415</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position_gztopic</joint_control_type>
          <gztopic>/gimbal_roll_cmd</gztopic>
          <joint_name>typhoon_h480::cgo3_camera_joint</joint_name>
        </channel>
        <channel name="gimbal_pitch">
          <input_index>7</input_index>
          <input_offset>0</input_offset>
          <input_scaling>-3.1415</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position_gztopic</joint_control_type>
          <gztopic>/gimbal_pitch_cmd</gztopic>
          <joint_name>typhoon_h480::cgo3_camera_joint</joint_name>
        </channel>
        <channel name="gimbal_yaw">
          <input_index>8</input_index>
          <input_offset>0</input_offset>
          <input_scaling>-3.1415</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position_gztopic</joint_control_type>
          <gztopic>/gimbal_yaw_cmd</gztopic>
          <joint_name>typhoon_h480::cgo3_vertical_arm_joint</joint_name>
        </channel>
        <channel name="left_leg">
          <input_index>9</input_index>
          <input_offset>1</input_offset>
          <input_scaling>0.5</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_control_pid>
            <p>3.5</p>
            <i>0.5</i>
            <d>0</d>
            <iMax>4</iMax>
            <iMin>-4</iMin>
            <cmdMax>6</cmdMax>
            <cmdMin>-6</cmdMin>
          </joint_control_pid>
          <joint_name>left_leg_joint</joint_name>
        </channel>
        <channel name="right_leg">
          <input_index>10</input_index>
          <input_offset>1</input_offset>
          <input_scaling>0.5</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_control_pid>
            <p>3.5</p>
            <i>0.5</i>
            <d>0</d>
            <iMax>4</iMax>
            <iMin>-4</iMin>
            <cmdMax>6</cmdMax>
            <cmdMin>-6</cmdMin>
          </joint_control_pid>
          <joint_name>right_leg_joint</joint_name>
        </channel>
      </control_channels>
    </plugin>
    <static>0</static>
    <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
      <robotNamespace></robotNamespace>
      <linkName>typhoon_h480/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>
    <plugin name='gimbal_controller' filename='libgazebo_gimbal_controller_plugin.so'>
      <joint_yaw>typhoon_h480::cgo3_vertical_arm_joint</joint_yaw>
      <joint_roll>typhoon_h480::cgo3_horizontal_arm_joint</joint_roll>
      <joint_pitch>typhoon_h480::cgo3_camera_joint</joint_pitch>
      <control_gimbal_channels>
        <channel>
          <joint_control_pid>
            <p>0.6</p>
            <i>0.1</i>
            <d>0.02</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>1.0</cmdMax>
            <cmdMin>-1.0</cmdMin>
          </joint_control_pid>
          <joint_axis>joint_yaw</joint_axis>
        </channel>
        <channel>
          <joint_control_pid>
            <p>0.8</p>
            <i>0.035</i>
            <d>0.02</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>0.3</cmdMax>
            <cmdMin>-0.3</cmdMin>
          </joint_control_pid>
          <joint_axis>joint_roll</joint_axis>
        </channel>
        <channel>
          <joint_control_pid>
            <p>2.068</p>
            <i>0.01245</i>
            <d>0.01</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>0.3</cmdMax>
            <cmdMin>-0.3</cmdMin>
          </joint_control_pid>
          <joint_axis>joint_pitch</joint_axis>
        </channel>
      </control_gimbal_channels>
      <gimbal_imu>camera_imu</gimbal_imu>
    </plugin>
  </model>
</sdf>