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  1. <?xml version="1.0" ?>
  2. <robot name="plane">
  3.  
  4.   <link name="base_link">
  5.     <inertial>
  6.       <mass value="1.5"/>
  7.       <origin xyz="0 0 0" rpy="0 0 0"/>
  8.       <inertia ixx="0.197563" ixy="0" ixz="0" iyy="0.1458929" iyz="0" izz="0.1477"/>
  9.     </inertial>
  10.     <collision name="base_link_collision">
  11.       <origin xyz="0    0    0.176" rpy="0 0 0"/>
  12.       <geometry>
  13.         <box size="0.47 0.47 0.11"/>
  14.       </geometry>
  15.     </collision>
  16.     <visual name="base_link_visual">
  17.       <origin xyz="0.07  0    0.166" rpy="0 0 0"/>
  18.       <geometry>
  19.         <mesh filename="package://plane_simulation/models/plane/meshes/body.dae" scale="0.1 0.1 0.1"/>
  20.       </geometry>
  21.     </visual>
  22.   </link>
  23.  
  24.   <link name="imu_link">
  25.     <inertial>
  26.       <mass value="0.015"/>
  27.       <origin xyz="0 0 0" rpy="0 0 0"/>
  28.       <!-- <inertia ixx="1e-05" ixy="0" ixz="0" iyy="1e-05" iyz="0" izz="1e-05"/> -->
  29.     </inertial>
  30.   </link>
  31.  
  32.  
  33.   <link name="airspeed_link">
  34.     <inertial>
  35.       <mass value="0.015"/>
  36.       <origin xyz="0 0 0" rpy="0 0 0"/>
  37.       <inertia ixx="1e-05" ixy="0" ixz="0" iyy="1e-05" iyz="0" izz="1e-05"/>
  38.     </inertial>
  39.   </link>
  40.  
  41.   <link name="rotor_puller">
  42.     <inertial>
  43.       <mass value="0.005"/>
  44.       <origin xyz="0 0 0" rpy="0 0 0"/>
  45.       <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000166704" iyz="0" izz="0.000167604"/>
  46.     </inertial>
  47.     <collision name="rotor_puller_collision">
  48.       <origin xyz="0 0 0" rpy="0 0 0"/>
  49.       <geometry>
  50.         <cylinder radius="0.1" length="0.005"/>
  51.       </geometry>
  52.     </collision>
  53.     <visual name="rotor_puller_visual">
  54.       <origin xyz="0    0   -0.09" rpy="0 0 0"/>
  55.       <geometry>
  56.         <mesh filename="package://plane_simulation/models/plane/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
  57.       </geometry>
  58.     </visual>
  59.   </link>
  60.  
  61.   <link name="left_elevon">
  62.     <inertial>
  63.       <mass value="0.001"/>
  64.       <origin xyz="0  0.3 0" rpy="0 0 0"/>
  65.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  66.     </inertial>
  67.     <visual name="left_elevon_visual">
  68.       <origin xyz="0.14 -0.4  -0.16" rpy="0 0 0"/>
  69.       <geometry>
  70.         <mesh filename="package://plane_simulation/models/plane/meshes/left_aileron.dae" scale="0.1 0.1 0.1"/>
  71.       </geometry>
  72.     </visual>
  73.   </link>
  74.   <link name="right_elevon">
  75.     <inertial>
  76.       <mass value="0.001"/>
  77.       <origin xyz="0  -0.3  0" rpy="0 0 0"/>
  78.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  79.     </inertial>
  80.     <visual name="right_elevon_visual">
  81.       <origin xyz="0.14  0.4  -0.16" rpy="0 0 0"/>
  82.       <geometry>
  83.         <mesh filename="package://plane_simulation/models/plane/meshes/right_aileron.dae" scale="0.1 0.1 0.1"/>
  84.       </geometry>
  85.     </visual>
  86.   </link>
  87.   <link name="left_flap">
  88.     <inertial>
  89.       <mass value="0.0001"/>
  90.       <origin xyz="0   0.15 0" rpy="0 0 0"/>
  91.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  92.     </inertial>
  93.     <visual name="left_flap_visual">
  94.       <origin xyz="0.14 -0.2  -0.16" rpy="0 0 0"/>
  95.       <geometry>
  96.         <mesh filename="package://plane_simulation/models/plane/meshes/left_flap.dae" scale="0.1 0.1 0.1"/>
  97.       </geometry>
  98.     </visual>
  99.   </link>
  100.   <link name="right_flap">
  101.     <inertial>
  102.       <mass value="0.0001"/>
  103.       <origin xyz="0   -0.15  0" rpy="0 0 0"/>
  104.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  105.     </inertial>
  106.     <visual name="right_flap_visual">
  107.       <origin xyz="0.14  0.2  -0.16" rpy="0 0 0"/>
  108.       <geometry>
  109.         <mesh filename="package://plane_simulation/models/plane/meshes/right_flap.dae" scale="0.1 0.1 0.1"/>
  110.       </geometry>
  111.     </visual>
  112.   </link>
  113.   <link name="elevator">
  114.     <inertial>
  115.       <mass value="0.0001"/>
  116.       <origin xyz="-0.5  0   0" rpy="0 0 0"/>
  117.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  118.     </inertial>
  119.     <visual name="elevator_visual">
  120.       <origin xyz="0.56999  0      -0.08" rpy="0 0 0"/>
  121.       <geometry>
  122.         <mesh filename="package://plane_simulation/models/plane/meshes/elevators.dae" scale="0.1 0.1 0.1"/>
  123.       </geometry>
  124.     </visual>
  125.   </link>
  126.   <link name="rudder">
  127.     <inertial>
  128.       <mass value="0.0001"/>
  129.       <origin xyz="-0.5   0    0.05" rpy="0 0 0"/>
  130.       <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
  131.     </inertial>
  132.     <visual name="rudder_visual">
  133.       <origin xyz="0.56999  0      -0.13" rpy="0 0 0"/>
  134.       <geometry>
  135.         <mesh filename="package://plane_simulation/models/plane/meshes/rudder.dae" scale="0.1 0.1 0.1"/>
  136.       </geometry>
  137.     </visual>
  138.   </link>
  139.  
  140.  
  141.  
  142.   <joint name="imu_joint" type="revolute">
  143.     <parent link="base_link"/>
  144.     <child link="imu_link"/>
  145.     <origin xyz="0  0  0.246" rpy="0 0 0"/>
  146.     <!-- <axis xyz="0 0 0"/> -->
  147.     <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/>
  148.   </joint>
  149.  
  150.   <joint name="airspeed_joint" type="revolute">
  151.     <parent link="base_link"/>
  152.     <child link="airspeed_link"/>
  153.     <origin xyz="0    0    0.246" rpy="0 0 0"/>
  154.     <axis xyz="1 0 0"/>
  155.     <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/>
  156.   </joint>
  157.  
  158.   <joint name="rotor_puller_joint" type="revolute">
  159.     <parent link="base_link"/>
  160.     <child link="rotor_puller"/>
  161.     <origin xyz="0.3   0    0.246" rpy="0   1.57 0"/>
  162.     <axis xyz="7.9e-04 0.0e+00 1.0e+00"/>
  163.     <limit lower="-1e+16" upper="1e+16" effort="0.0" velocity="0.0"/>
  164.   </joint>
  165.  
  166.  
  167.   <joint name="left_elevon_joint" type="revolute">
  168.     <parent link="base_link"/>
  169.     <child link="left_elevon"/>
  170.     <origin xyz="-0.07   0.4    0.326" rpy="0 0 0"/>
  171.     <axis xyz="0 1 0"/>
  172.     <limit lower="-1e+16" upper="1e+16" effort="0.0" velocity="0.0"/>
  173.     <!-- <limit lower="-0.53" upper="0.53" effort="2000.0" velocity="0.0"/> -->
  174.   </joint>
  175.  
  176.   <joint name="right_elevon_joint" type="revolute">
  177.     <parent link="base_link"/>
  178.     <child link="right_elevon"/>
  179.     <origin xyz="-0.07  -0.4    0.326" rpy="0 0 0"/>
  180.     <axis xyz="0 1 0"/>
  181.     <limit lower="-0.53" upper="0.53" effort="0.0" velocity="0.0"/>
  182.   </joint>
  183.   <joint name="left_flap_joint" type="revolute">
  184.     <parent link="base_link"/>
  185.     <child link="left_flap"/>
  186.     <origin xyz="-0.07   0.2    0.326" rpy="0 0 0"/>
  187.     <axis xyz="0 1 0"/>
  188.     <limit lower="-0.53" upper="0.53" effort="0.0" velocity="0.0"/>
  189.   </joint>
  190.   <joint name="right_flap_joint" type="revolute">
  191.     <parent link="base_link"/>
  192.     <child link="right_flap"/>
  193.     <origin xyz="-0.07  -0.2    0.326" rpy="0 0 0"/>
  194.     <axis xyz="0 1 0"/>
  195.     <limit lower="-0.53" upper="0.53" effort="0.0" velocity="0.0"/>
  196.   </joint>
  197.   <joint name="elevator_joint" type="revolute">
  198.     <parent link="base_link"/>
  199.     <child link="elevator"/>
  200.     <origin xyz="-0.5    0     0.246" rpy="0 0 0"/>
  201.     <axis xyz="0 1 0"/>
  202.     <limit lower="-0.53" upper="0.53" effort="0.0" velocity="0.0"/>
  203.   </joint>
  204.   <joint name="rudder_joint" type="revolute">
  205.     <parent link="base_link"/>
  206.     <child link="rudder"/>
  207.     <origin xyz="-0.5    0     0.296" rpy="0 0 0"/>
  208.     <axis xyz="0 0 1"/>
  209.     <limit lower="-0.53" upper="0.53" effort="0.0" velocity="0.0"/>
  210.   </joint>
  211.  
  212.   <gazebo>
  213.     <plugin name="left_wing" filename="libLiftDragPlugin.so">
  214.       <a0>0.05984281113</a0>
  215.       <cla>4.752798721</cla>
  216.       <cda>0.6417112299</cda>
  217.       <cma>0.0</cma>
  218.       <alpha_stall>0.3391428111</alpha_stall>
  219.       <cla_stall>-3.85</cla_stall>
  220.       <cda_stall>-0.9233984055</cda_stall>
  221.       <cma_stall>0</cma_stall>
  222.       <cp>-0.05 0.45 0.05</cp>
  223.       <area>0.6</area>
  224.       <air_density>1.2041</air_density>
  225.       <forward>1 0 0</forward>
  226.       <upward>0 0 1</upward>
  227.       <link_name>base_link</link_name>
  228.       <control_joint_name>
  229.         left_elevon_joint
  230.       </control_joint_name>
  231.       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
  232.       <robotNamespace></robotNamespace>
  233.       <windSubTopic>world_wind</windSubTopic>
  234.     </plugin>
  235.   </gazebo>
  236.   <gazebo>
  237.     <plugin name="right_wing" filename="libLiftDragPlugin.so">
  238.       <a0>0.05984281113</a0>
  239.       <cla>4.752798721</cla>
  240.       <cda>0.6417112299</cda>
  241.       <cma>0.0</cma>
  242.       <alpha_stall>0.3391428111</alpha_stall>
  243.       <cla_stall>-3.85</cla_stall>
  244.       <cda_stall>-0.9233984055</cda_stall>
  245.       <cma_stall>0</cma_stall>
  246.       <cp>-0.05 -0.45 0.05</cp>
  247.       <area>0.6</area>
  248.       <air_density>1.2041</air_density>
  249.       <forward>1 0 0</forward>
  250.       <upward>0 0 1</upward>
  251.       <link_name>base_link</link_name>
  252.       <control_joint_name>
  253.         right_elevon_joint
  254.       </control_joint_name>
  255.       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
  256.       <robotNamespace></robotNamespace>
  257.       <windSubTopic>world_wind</windSubTopic>
  258.     </plugin>
  259.   </gazebo>
  260.   <gazebo>
  261.     <plugin name="left_flap" filename="libLiftDragPlugin.so">
  262.       <a0>0.05984281113</a0>
  263.       <cla>4.752798721</cla>
  264.       <cda>0.6417112299</cda>
  265.       <cma>0.0</cma>
  266.       <alpha_stall>0.3391428111</alpha_stall>
  267.       <cla_stall>-3.85</cla_stall>
  268.       <cda_stall>-0.9233984055</cda_stall>
  269.       <cma_stall>0</cma_stall>
  270.       <cp>-0.05 0.15 0.05</cp>
  271.       <area>0.6</area>
  272.       <air_density>1.2041</air_density>
  273.       <forward>1 0 0</forward>
  274.       <upward>0 0 1</upward>
  275.       <link_name>base_link</link_name>
  276.       <control_joint_name>
  277.         left_flap_joint
  278.       </control_joint_name>
  279.       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
  280.       <robotNamespace></robotNamespace>
  281.       <windSubTopic>world_wind</windSubTopic>
  282.     </plugin>
  283.   </gazebo>
  284.   <gazebo>
  285.     <plugin name="right_flap" filename="libLiftDragPlugin.so">
  286.       <a0>0.05984281113</a0>
  287.       <cla>4.752798721</cla>
  288.       <cda>0.6417112299</cda>
  289.       <cma>0.0</cma>
  290.       <alpha_stall>0.3391428111</alpha_stall>
  291.       <cla_stall>-3.85</cla_stall>
  292.       <cda_stall>-0.9233984055</cda_stall>
  293.       <cma_stall>0</cma_stall>
  294.       <cp>-0.05 -0.15 0.05</cp>
  295.       <area>0.6</area>
  296.       <air_density>1.2041</air_density>
  297.       <forward>1 0 0</forward>
  298.       <upward>0 0 1</upward>
  299.       <link_name>base_link</link_name>
  300.       <control_joint_name>
  301.         right_flap_joint
  302.       </control_joint_name>
  303.       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
  304.       <robotNamespace></robotNamespace>
  305.       <windSubTopic>world_wind</windSubTopic>
  306.     </plugin>
  307.   </gazebo>
  308.  
  309.   <gazebo>
  310.     <plugin name="elevator" filename="libLiftDragPlugin.so">
  311.       <a0>-0.2</a0>
  312.       <cla>4.752798721</cla>
  313.       <cda>0.6417112299</cda>
  314.       <cma>0.0</cma>
  315.       <alpha_stall>0.3391428111</alpha_stall>
  316.       <cla_stall>-3.85</cla_stall>
  317.       <cda_stall>-0.9233984055</cda_stall>
  318.       <cma_stall>0</cma_stall>
  319.       <cp>-0.5 0 0</cp>
  320.       <area>0.01</area>
  321.       <air_density>1.2041</air_density>
  322.       <forward>1 0 0</forward>
  323.       <upward>0 0 1</upward>
  324.       <link_name>base_link</link_name>
  325.       <control_joint_name>
  326.         elevator_joint
  327.       </control_joint_name>
  328.       <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
  329.       <robotNamespace></robotNamespace>
  330.       <windSubTopic>world_wind</windSubTopic>
  331.     </plugin>
  332.   </gazebo>
  333.   <gazebo>
  334.     <plugin name="rudder" filename="libLiftDragPlugin.so">
  335.       <a0>0.0</a0>
  336.       <cla>4.752798721</cla>
  337.       <cda>0.6417112299</cda>
  338.       <cma>0.0</cma>
  339.       <alpha_stall>0.3391428111</alpha_stall>
  340.       <cla_stall>-3.85</cla_stall>
  341.       <cda_stall>-0.9233984055</cda_stall>
  342.       <cma_stall>0</cma_stall>
  343.       <cp>-0.5 0 0.05</cp>
  344.       <area>0.02</area>
  345.       <air_density>1.2041</air_density>
  346.       <forward>1 0 0</forward>
  347.       <upward>0 1 0</upward>
  348.       <link_name>base_link</link_name>
  349.       <robotNamespace></robotNamespace>
  350.       <windSubTopic>world_wind</windSubTopic>
  351.     </plugin>
  352.   </gazebo>
  353.  
  354.   <gazebo>
  355.     <plugin name='puller' filename='libgazebo_motor_model.so'>
  356.       <robotNamespace></robotNamespace>
  357.       <jointName>rotor_puller_joint</jointName>
  358.       <linkName>rotor_puller</linkName>
  359.       <turningDirection>cw</turningDirection>
  360.       <timeConstantUp>0.0125</timeConstantUp>
  361.       <timeConstantDown>0.025</timeConstantDown>
  362.       <maxRotVelocity>3500</maxRotVelocity>
  363.       <motorConstant>8.54858e-06</motorConstant>
  364.       <momentConstant>0.01</momentConstant>
  365.       <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
  366.       <motorNumber>4</motorNumber>
  367.       <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
  368.       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
  369.       <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
  370.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  371.       <robotNamespace></robotNamespace>
  372.       <windSubTopic>world_wind</windSubTopic>
  373.     </plugin>
  374.   </gazebo>
  375.  
  376.   <gazebo>
  377.     <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
  378.       <robotNamespace></robotNamespace>
  379.       <linkName>imu_link</linkName>
  380.       <imuTopic>/imu</imuTopic>
  381.  
  382.       <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
  383.       <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
  384.       <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
  385.       <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
  386.       <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
  387.       <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
  388.       <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
  389.       <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
  390.     </plugin>
  391.   </gazebo>
  392.  
  393.  
  394.  
  395.   <!-- <gazebo> -->
  396.   <!--   <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'> -->
  397.   <!--     <robotNamespace/> -->
  398.   <!--   </plugin> -->
  399.   <!-- </gazebo> -->
  400.  
  401.   <gazebo>
  402.     <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
  403.       <robotNamespace/>
  404.       <pubRate>100</pubRate>
  405.       <noiseDensity>0.0004</noiseDensity>
  406.       <randomWalk>6.4e-06</randomWalk>
  407.       <biasCorrelationTime>600</biasCorrelationTime>
  408.       <magTopic>/mag</magTopic>
  409.     </plugin>
  410.   </gazebo>
  411.   <gazebo>
  412.     <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
  413.       <robotNamespace/>
  414.       <pubRate>50</pubRate>
  415.       <baroTopic>/baro</baroTopic>
  416.     </plugin>
  417.   </gazebo>
  418.   <gazebo>
  419.     <plugin name='airspeed_plugin' filename='libgazebo_airspeed_plugin.so'>
  420.       <robotNamespace/>
  421.       <linkName>airspeed_link</linkName>
  422.     </plugin>
  423.   </gazebo>
  424.  
  425.  
  426.     <gazebo name="gps_gazebo">
  427.       <link name="gps_link">
  428.         <pose>0 0 0 0 0 0</pose>
  429.         <inertial>
  430.           <pose>0 0 0 0 0 0</pose>
  431.           <mass>0.01</mass>
  432.           <inertia>
  433.             <ixx>2.1733e-6</ixx>
  434.             <ixy>0</ixy>
  435.             <ixz>0</ixz>
  436.             <iyy>2.1733e-6</iyy>
  437.             <iyz>0</iyz>
  438.             <izz>1.8e-7</izz>
  439.           </inertia>
  440.         </inertial>
  441.         <sensor name="gps" type="gps">
  442.           <pose>0 0 0 0 0 0</pose>
  443.           <plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
  444.             <robotNamespace></robotNamespace>
  445.             <gpsNoise>true</gpsNoise>
  446.             <gpsXYRandomWalk>2.0</gpsXYRandomWalk>
  447.             <gpsZRandomWalk>4.0</gpsZRandomWalk>
  448.             <gpsXYNoiseDensity>2.0e-4</gpsXYNoiseDensity>
  449.             <gpsZNoiseDensity>4.0e-4</gpsZNoiseDensity>
  450.             <gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
  451.             <gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
  452.             <update_rate>10</update_rate>
  453.             <topic>gps</topic>
  454.           </plugin>
  455.         </sensor>
  456.       </link>
  457.         <joint name="gps_joint" type='fixed'>
  458.           <parent>base_link</parent>
  459.           <child>gps_link</child>
  460.         </joint>
  461.     </gazebo>
  462.  
  463.   <gazebo>
  464.     <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
  465.       <robotNamespace></robotNamespace>
  466.       <imuSubTopic>/imu</imuSubTopic>
  467.       <magSubTopic>/mag</magSubTopic>
  468.       <baroSubTopic>/baro</baroSubTopic>
  469.       <gpsSubTopic>/gps</gpsSubTopic>
  470.       <mavlink_addr>INADDR_ANY</mavlink_addr>
  471.       <mavlink_udp_port>14560</mavlink_udp_port>
  472.       <serialEnabled>false</serialEnabled>
  473.       <serialDevice>/dev/ttyACM0</serialDevice>
  474.       <baudRate>921600</baudRate>
  475.       <qgc_addr>INADDR_ANY</qgc_addr>
  476.       <qgc_udp_port>14550</qgc_udp_port>
  477.       <sdk_addr>INADDR_ANY</sdk_addr>
  478.       <sdk_udp_port>14540</sdk_udp_port>
  479.       <hil_mode>false</hil_mode>
  480.       <hil_state_level>false</hil_state_level>
  481.       <enable_lockstep>true</enable_lockstep>
  482.       <use_tcp>true</use_tcp>
  483.       <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
  484.       <control_channels>
  485.         <channel name="rudder">
  486.           <input_index>2</input_index>
  487.           <input_offset>0</input_offset>
  488.           <input_scaling>1</input_scaling>
  489.           <zero_position_disarmed>0</zero_position_disarmed>
  490.           <zero_position_armed>0</zero_position_armed>
  491.           <joint_control_type>position_kinematic</joint_control_type>
  492.           <joint_name>rudder_joint</joint_name>
  493.         </channel>
  494.         <channel name="rotor4">
  495.           <input_index>4</input_index>
  496.           <input_offset>0</input_offset>
  497.           <input_scaling>3500</input_scaling>
  498.           <zero_position_disarmed>0</zero_position_disarmed>
  499.           <zero_position_armed>0</zero_position_armed>
  500.           <joint_control_type>velocity</joint_control_type>
  501.           <joint_name>rotor_puller_joint</joint_name>
  502.         </channel>
  503.         <channel name="left_elevon">
  504.           <input_index>5</input_index>
  505.           <input_offset>0</input_offset>
  506.           <input_scaling>1</input_scaling>
  507.           <zero_position_disarmed>0</zero_position_disarmed>
  508.           <zero_position_armed>0</zero_position_armed>
  509.           <joint_control_type>position_kinematic</joint_control_type>
  510.           <joint_name>left_elevon_joint</joint_name>
  511.         </channel>
  512.         <channel name="right_elevon">
  513.           <input_index>6</input_index>
  514.           <input_offset>0</input_offset>
  515.           <input_scaling>1</input_scaling>
  516.           <zero_position_disarmed>0</zero_position_disarmed>
  517.           <zero_position_armed>0</zero_position_armed>
  518.           <joint_control_type>position_kinematic</joint_control_type>
  519.           <joint_name>right_elevon_joint</joint_name>
  520.         </channel>
  521.         <channel name="elevator">
  522.           <input_index>7</input_index>
  523.           <input_offset>0</input_offset>
  524.           <input_scaling>1</input_scaling>
  525.           <zero_position_disarmed>0</zero_position_disarmed>
  526.           <zero_position_armed>0</zero_position_armed>
  527.           <joint_control_type>position_kinematic</joint_control_type>
  528.           <joint_name>elevator_joint</joint_name>
  529.         </channel>
  530.         <channel name="left_flap">
  531.           <input_index>3</input_index>
  532.           <input_offset>0</input_offset>
  533.           <input_scaling>-1</input_scaling>
  534.           <zero_position_disarmed>0</zero_position_disarmed>
  535.           <zero_position_armed>0</zero_position_armed>
  536.           <joint_control_type>position_kinematic</joint_control_type>
  537.           <joint_name>left_flap_joint</joint_name>
  538.         </channel>
  539.         <channel name="right_flap">
  540.           <input_index>8</input_index>
  541.           <input_offset>0</input_offset>
  542.           <input_scaling>-1</input_scaling>
  543.           <zero_position_disarmed>0</zero_position_disarmed>
  544.           <zero_position_armed>0</zero_position_armed>
  545.           <joint_control_type>position_kinematic</joint_control_type>
  546.           <joint_name>right_flap_joint</joint_name>
  547.         </channel>
  548.       </control_channels>
  549.     </plugin>
  550.   </gazebo>
  551. </robot>
  552.  
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