${namespace}
${bag_file}
base_link
base_link
command/attitude
command/attitude
${rotor_velocity_slowdown_sim}
${frame_rate}
${horizontal_fov}
${image_width}
${image_height}
${image_format}
${min_distance}
${max_distance}
gaussian
${noise_mean}
${noise_stddev}
${namespace}
true
${frame_rate}
camera_${camera_suffix}
image_raw
camera_info
camera_${camera_suffix}_link
0.0
0.0
0.0
0.0
0.0
0.0
${namespace}
/command/attitude
/command/rate
/command/motor_speed
/${imu_sub_topic}
/gazebo/command/motor_speed
${namespace}
${gps_noise}
${namespace}
${pub_rate}
${noise_density}
${random_walk}
${bias_correlation_time}
${mag_topic}
${namespace}
${pub_rate}
${baro_topic}
${namespace}
${imu_sub_topic}
${gps_sub_topic}
${mag_sub_topic}
${baro_sub_topic}
$(arg mavlink_addr)
$(arg mavlink_udp_port)
$(arg mavlink_tcp_port)
$(arg serial_enabled)
$(arg serial_device)
$(arg baudrate)
$(arg qgc_addr)
$(arg qgc_udp_port)
$(arg sdk_addr)
$(arg sdk_udp_port)
$(arg hil_mode)
$(arg hil_state_level)
$(arg vehicle_is_tailsitter)
$(arg send_vision_estimation)
$(arg send_odometry)
$(arg enable_lockstep)
$(arg use_tcp)
/gazebo/command/motor_speed
0
0
1000
0
100
velocity
1
0
1000
0
100
velocity
2
0
1000
0
100
velocity
3
0
1000
0
100
velocity
4
1
324.6
0
0
velocity
0.1
0
0
0.0
0.0
2
-2
zephyr_delta_wing::propeller_joint
5
0
0.524
0
0
position
zephyr_delta_wing::flap_left_joint
10.0
0
0
0
0
20
-20
6
0
0.524
0
0
position
zephyr_delta_wing::flap_right_joint
10.0
0
0
0
0
20
-20
7
0
0.524
0
0
position
true
true
${namespace}
${namespace}/imu${imu_suffix}_link
${imu_topic}
${gyroscope_noise_density}
${gyroscopoe_random_walk}
${gyroscope_bias_correlation_time}
${gyroscope_turn_on_bias_sigma}
${accelerometer_noise_density}
${accelerometer_random_walk}
${accelerometer_bias_correlation_time}
${accelerometer_turn_on_bias_sigma}
${namespace}/odometry_sensor${odometry_sensor_suffix}_link
${namespace}
${pose_topic}
${pose_with_covariance_topic}
${position_topic}
${transform_topic}
${odometry_topic}
${parent_frame_id}
${measurement_divisor}
${measurement_delay}
${unknown_delay}
${noise_normal_position}
${noise_normal_quaternion}
${noise_normal_linear_velocity}
${noise_normal_angular_velocity}
${noise_uniform_position}
${noise_uniform_quaternion}
${noise_uniform_linear_velocity}
${noise_uniform_angular_velocity}
package://rotors_gazebo/resource/${odometry_map}
${image_scale}
base_link
base_link
${namespace}
${xyz_offset}
${wind_direction}
${wind_force_mean}
${wind_gust_direction}
${wind_gust_duration}
${wind_gust_start}
${wind_gust_force_mean}
true
${frame_rate}
2
L8
640
480
0.01
100
${namespace}
true
0.11
${frame_rate}
camera_${camera_suffix}
camera/image_raw
camera/camera_info
depth/disparity
depth/camera_info
depth/points
camera_${camera_suffix}_optical_center_link
0.5
0.0
0.0
0.0
0.0
0.0