From 90e9198ea47982d87837fc59412733b56b0e5ced Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 2 Mar 2021 16:40:34 +0100
Subject: [PATCH 01/22] added custom controller to qav500

---
 submitted_models/ctu_cras_norlab_x500         |   1 +
 .../CMakeLists.txt                            |  30 +-
 .../launch/spawner.rb                         |   4 +-
 .../src/Common.cc                             | 245 ++++++++++++
 .../src/Common.hh                             |  69 ++++
 .../src/LeeVelocityController.cc              | 177 +++++++++
 .../src/LeeVelocityController.hh              |  64 ++++
 .../src/MRSMultirotorController.cc            | 358 ++++++++++++++++++
 .../src/MRSMultirotorController.hh            |  83 ++++
 .../src/Parameters.hh                         |  52 +++
 10 files changed, 1079 insertions(+), 4 deletions(-)
 create mode 120000 submitted_models/ctu_cras_norlab_x500
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Common.cc
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Common.hh
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh

diff --git a/submitted_models/ctu_cras_norlab_x500 b/submitted_models/ctu_cras_norlab_x500
new file mode 120000
index 00000000..56b043cb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500
@@ -0,0 +1 @@
+/home/klaxalk/git/ctu_cras_norlab_x500
\ No newline at end of file
diff --git a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
index 3ca627f8..2a8ab59a 100644
--- a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
@@ -1,13 +1,39 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.2)
+
 project(marble_qav500_sensor_config_1)
 
 find_package(catkin REQUIRED)
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 catkin_package()
 
-install(DIRECTORY launch meshes urdf materials
+add_library(MRSMultirotorController SHARED
+  src/MRSMultirotorController.cc
+  src/Common.cc
+  src/LeeVelocityController.cc
+)
+
+target_link_libraries(MRSMultirotorController
+  PRIVATE ignition-plugin1::ignition-plugin1
+  PRIVATE ignition-gazebo4::ignition-gazebo4
+  PRIVATE ignition-common3::ignition-common3
+  PRIVATE ignition-transport9::ignition-transport9
+  PRIVATE Eigen3::Eigen
+  )
+
+install(DIRECTORY launch meshes urdf materials worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
+install(TARGETS MRSMultirotorController
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin)
diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
index a0ab02aa..1a826104 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
@@ -100,8 +100,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       </plugin>
       <!-- MulticopterVelocityControl plugin -->
       <plugin
-        filename="libignition-gazebo-multicopter-control-system.so"
-        name="ignition::gazebo::systems::MulticopterVelocityControl">
+        filename="libMRSMultirotorController.so"
+        name="ignition::gazebo::systems::MRSMultirotorController">
         <robotNamespace>model/#{_name}</robotNamespace>
         <commandSubTopic>cmd_vel</commandSubTopic>
         <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Common.cc b/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
new file mode 100644
index 00000000..2405d91a
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
@@ -0,0 +1,245 @@
+/* includes //{ */
+
+#include "Common.hh"
+
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/math/eigen3/Conversions.hh>
+
+#include <ignition/gazebo/components/ChildLinkName.hh>
+#include <ignition/gazebo/components/Joint.hh>
+#include <ignition/gazebo/components/JointAxis.hh>
+#include <ignition/gazebo/components/Link.hh>
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/gazebo/components/Pose.hh>
+#include "ignition/gazebo/components/LinearVelocity.hh"
+#include "ignition/gazebo/components/AngularVelocity.hh"
+
+//}
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+/* loadRotorConfiguration() //{ */
+
+RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink) {
+
+  RotorConfiguration out;
+  std::size_t        count = 0;
+
+  for (sdf::ElementPtr elem = _sdf->GetFirstElement(); elem; elem = elem->GetNextElement("rotor"), ++count) {
+
+    Rotor rotor;
+
+    if (!elem->HasElement("jointName")) {
+      ignerr << "Please specify jointName for rotor index " << count << std::endl;
+      continue;
+    }
+
+    const std::string jointName = elem->Get<std::string>("jointName");
+
+    const Entity joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName), components::ParentEntity(_model.Entity()));
+
+    if (kNullEntity == joint) {
+      ignerr << "Joint with name " << jointName << " could not be found in "
+             << "model " << _model.Name(_ecm) << " while processing rotor "
+             << "index " << count << std::endl;
+      continue;
+    }
+
+    // Calculate the armLength and angle of propeller. The angle of a
+    // propeller is the angle about the z axis from the x axis of the frame
+    // attached to _comLink to the joint.
+
+    // First, get the pose of the joint w.r.t _comLink
+    const std::string childLinkName = _ecm.Component<components::ChildLinkName>(joint)->Data();
+
+    const Entity childLink = _ecm.EntityByComponents(components::Link(), components::Name(childLinkName), components::ParentEntity(_model.Entity()));
+
+    if (kNullEntity == childLink) {
+      ignerr << "Child link of joint " << jointName << " with name " << childLinkName << " could not be found in  model " << _model.Name(_ecm)
+             << " while processing rotor index " << count << std::endl;
+      continue;
+    }
+
+    const math::Pose3d jointPose     = _ecm.Component<components::Pose>(joint)->Data();
+    const math::Pose3d childLinkPose = _ecm.Component<components::Pose>(childLink)->Data();
+    const math::Pose3d comLinkPose   = _ecm.Component<components::Pose>(_comLink)->Data();
+
+    const math::Pose3d jointPoseComLink = comLinkPose.Inverse() * (childLinkPose * jointPose);
+
+    // Project jointPoseComLink into the rotor plane, which is assumed to be
+    // the XY plane.
+    math::Vector3d unitZ     = math::Vector3d::UnitZ;
+    math::Vector3d rotorProj = jointPoseComLink.Pos() - (unitZ.Dot(jointPoseComLink.Pos()) * unitZ);
+
+    rotor.armLength = rotorProj.Length();
+    math::Quaterniond rot;
+    rot.From2Axes(math::Vector3d::UnitX, rotorProj);
+    rotor.angle = rot.Yaw();
+
+    if (!elem->HasElement("forceConstant")) {
+      ignerr << "Please specify forceConstant for rotor index " << count << std::endl;
+      continue;
+    }
+    rotor.forceConstant = elem->Get<double>("forceConstant");
+
+    // forceConstant assumes that the rotor's thrust is along the body's +z
+    // direction. However, UAVs have their rotors oriented such they are not
+    // orthogonal to the rotor plane (the COM link frame's xy plane). To
+    // account for the difference in thrust, we multiply the forceConstant
+    // with the projection of the rotor's vector onto the +z axis of the
+    // COM link frame.
+    auto axis = _ecm.Component<components::JointAxis>(joint);
+    if (nullptr != axis) {
+      math::Vector3d xyzInJoint;
+      axis->Data().ResolveXyz(xyzInJoint);
+
+      auto xyzInComLink = comLinkPose.Rot().Inverse() * (childLinkPose.Rot() * jointPose.Rot() * xyzInJoint);
+
+      // The projection onto the +z axis is just the z component of the
+      // xyzInComLink vector
+      rotor.forceConstant *= xyzInComLink.Z();
+    }
+
+    if (!elem->HasElement("momentConstant")) {
+      ignerr << "Please specify momentConstant for rotor index " << count << std::endl;
+      continue;
+    }
+
+    rotor.momentConstant = elem->Get<double>("momentConstant");
+
+    if (!elem->HasElement("direction")) {
+      ignerr << "Please specify direction for rotor index " << count << std::endl;
+      continue;
+    }
+
+    rotor.direction = elem->Get<int>("direction");
+
+    out.push_back(rotor);
+  }
+
+  return out;
+}
+
+//}
+
+/* calculateAllocationMatrix() //{ */
+
+std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration) {
+
+  Eigen::Matrix4Xd allocationMatrix;
+
+  allocationMatrix.resize(4, _rotorConfiguration.size());
+
+  unsigned int i = 0;
+
+  for (const Rotor &rotor : _rotorConfiguration) {
+
+    // Set first row of allocation matrix.
+    allocationMatrix(0, i) = sin(rotor.angle) * rotor.armLength * rotor.forceConstant;
+    // Set second row of allocation matrix.
+    allocationMatrix(1, i) = -cos(rotor.angle) * rotor.armLength * rotor.forceConstant;
+    // Set third row of allocation matrix.
+    allocationMatrix(2, i) = -rotor.direction * rotor.forceConstant * rotor.momentConstant;
+    // Set forth row of allocation matrix.
+    allocationMatrix(3, i) = rotor.forceConstant;
+    ++i;
+  }
+
+  Eigen::FullPivLU<Eigen::Matrix4Xd> lu(allocationMatrix);
+
+  lu.setThreshold(1e-9);
+  int rank = lu.rank();
+
+  if (rank < 4) {
+    ignerr << "The rank of the allocation matrix is " << lu.rank() << ", it should have rank 4, to have a fully controllable system,"
+           << " check your configuration." << std::endl;
+    return std::nullopt;
+  }
+
+  return std::make_optional(allocationMatrix);
+}
+
+//}
+
+/* createFrameDataComponents() //{ */
+
+void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link) {
+
+  // Create a world Pose component if one is not present
+  if (_ecm.Component<components::WorldPose>(_link)) {
+    _ecm.CreateComponent(_link, components::WorldPose());
+  }
+
+  // Create a world linear velocity component if one is not present.
+  if (!_ecm.Component<components::WorldLinearVelocity>(_link)) {
+    _ecm.CreateComponent(_link, components::WorldLinearVelocity());
+  }
+
+  // Create an angular velocity component if one is not present.
+  if (!_ecm.Component<components::AngularVelocity>(_link)) {
+    _ecm.CreateComponent(_link, components::AngularVelocity());
+  }
+}
+
+//}
+
+/* getFrameData() //{ */
+
+std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise) {
+
+  auto poseComp = _ecm.Component<components::WorldPose>(_link);
+
+  if (!poseComp) {
+    ignerr << "WorldPose component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+
+  auto velComp = _ecm.Component<components::WorldLinearVelocity>(_link);
+
+  if (!velComp) {
+    ignerr << "WorldLinearVelocity component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+  auto angVelComp = _ecm.Component<components::AngularVelocity>(_link);
+
+  if (!angVelComp) {
+    ignerr << "AngularVelocity component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+
+  auto applyNoise = [](Eigen::Vector3d &_val, const Eigen::Vector3d &_mean, const Eigen::Vector3d &_stdDev) {
+    for (int i = 0; i < 3; ++i) {
+      if (_stdDev(i) > 0) {
+        _val(i) += math::Rand::DblNormal(_mean(i), _stdDev(i));
+      }
+    }
+  };
+
+  auto frameData = std::make_optional<FrameData>(
+      {math::eigen3::convert(poseComp->Data()), math::eigen3::convert(velComp->Data()), math::eigen3::convert(angVelComp->Data())});
+
+  applyNoise(frameData->linearVelocityWorld, _noise.linearVelocityMean, _noise.linearVelocityStdDev);
+  applyNoise(frameData->angularVelocityBody, _noise.angularVelocityMean, _noise.angularVelocityStdDev);
+
+  return frameData;
+}
+
+//}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Common.hh b/submitted_models/marble_qav500_sensor_config_1/src/Common.hh
new file mode 100644
index 00000000..9d6a86ee
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/Common.hh
@@ -0,0 +1,69 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
+
+/* includes() //{ */
+
+#include <Eigen/Geometry>
+#include <vector>
+
+#include <sdf/sdf.hh>
+
+#include "ignition/gazebo/config.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/Model.hh"
+
+#include "Parameters.hh"
+
+//}
+
+namespace ignition
+{
+
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+struct EigenTwist
+{
+  Eigen::Vector3d linear;
+  Eigen::Vector3d angular;
+};
+
+struct FrameData
+{
+  Eigen::Isometry3d pose;
+  Eigen::Vector3d   linearVelocityWorld;
+  Eigen::Vector3d   angularVelocityBody;
+};
+
+RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink);
+
+std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration);
+
+void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link);
+
+std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise);
+
+inline Eigen::Matrix3d skewMatrixFromVector(const Eigen::Vector3d &_vector) {
+  Eigen::Matrix3d skewMatrix;
+  skewMatrix << 0, -_vector.z(), _vector.y(), _vector.z(), 0, -_vector.x(), -_vector.y(), _vector.x(), 0;
+  return skewMatrix;
+}
+
+inline Eigen::Vector3d vectorFromSkewMatrix(const Eigen::Matrix3d &_skewMatrix) {
+  return Eigen::Vector3d(_skewMatrix(2, 1), _skewMatrix(0, 2), _skewMatrix(1, 0));
+}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
new file mode 100644
index 00000000..a9b3b2ea
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
@@ -0,0 +1,177 @@
+#include "LeeVelocityController.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+/* MakeController() //{ */
+
+std::unique_ptr<LeeVelocityController> LeeVelocityController::MakeController(const LeeVelocityControllerParameters &_controllerParams,
+                                                                             const VehicleParameters &              _vehicleParams) {
+  // auto controller = std::make_unique<LeeVelocityController>();
+  // Can't use make_unique here because the constructor is private
+  std::unique_ptr<LeeVelocityController> controller(new LeeVelocityController());
+
+  controller->controllerParameters = _controllerParams;
+  controller->vehicleParameters    = _vehicleParams;
+
+  if (controller->InitializeParameters()) {
+    return controller;
+  } else {
+    return nullptr;
+  }
+}
+
+//}
+
+/* InitializeParameters() //{ */
+
+bool LeeVelocityController::InitializeParameters() {
+
+  auto allocationMatrix = calculateAllocationMatrix(this->vehicleParameters.rotorConfiguration);
+
+  if (!allocationMatrix.has_value()) {
+    // Error should already be printed by function
+    return false;
+  }
+
+  // To make the tuning independent of the inertia matrix we divide here.
+  this->normalizedAttitudeGain = this->controllerParameters.attitudeGain.transpose() * this->vehicleParameters.inertia.inverse();
+
+  this->normalizedAngularRateGain = this->controllerParameters.angularRateGain.transpose() * this->vehicleParameters.inertia.inverse();
+
+  Eigen::Matrix4d moi;
+  moi.setZero();
+  moi.block<3, 3>(0, 0) = this->vehicleParameters.inertia;
+  moi(3, 3)             = 1;
+
+  this->angularAccToRotorVelocities.resize(this->vehicleParameters.rotorConfiguration.size(), 4);
+  // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
+  // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
+  //
+  const auto &aMat                  = *allocationMatrix;
+  this->angularAccToRotorVelocities = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
+
+  return true;
+}
+
+//}
+
+/* CalculateRotorVelocities() //{ */
+
+void LeeVelocityController::CalculateRotorVelocities(const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const {
+
+  Eigen::Vector3d acceleration = this->ComputeDesiredAcceleration(_frameData, _cmdVel);
+
+  Eigen::Vector3d angularAcceleration = this->ComputeDesiredAngularAcc(_frameData, _cmdVel, acceleration);
+
+  // Project thrust onto body z axis.
+  double thrust = -this->vehicleParameters.mass * acceleration.dot(_frameData.pose.linear().col(2));
+
+  Eigen::Vector4d angularAccelerationThrust;
+
+  angularAccelerationThrust.block<3, 1>(0, 0) = angularAcceleration;
+  angularAccelerationThrust(3)                = thrust;
+
+  _rotorVelocities = this->angularAccToRotorVelocities * angularAccelerationThrust;
+
+  _rotorVelocities = _rotorVelocities.cwiseMax(Eigen::VectorXd::Zero(_rotorVelocities.rows()));
+  _rotorVelocities = _rotorVelocities.cwiseSqrt();
+}
+
+//}
+
+/* ComputeDesiredAcceleration() //{ */
+
+Eigen::Vector3d LeeVelocityController::ComputeDesiredAcceleration(const FrameData &_frameData, const EigenTwist &_cmdVel) const {
+  Eigen::Vector3d velocityError = _frameData.linearVelocityWorld - _frameData.pose.linear() * _cmdVel.linear;
+
+  Eigen::Vector3d accelCommand = velocityError.cwiseProduct(this->controllerParameters.velocityGain) / this->vehicleParameters.mass;
+
+  accelCommand = accelCommand.cwiseAbs().cwiseMin(this->controllerParameters.maxLinearAcceleration).cwiseProduct(accelCommand.cwiseSign());
+
+  return accelCommand + this->vehicleParameters.gravity;
+}
+
+//}
+
+/* ComputeDesiredAngularAcc() //{ */
+
+Eigen::Vector3d LeeVelocityController::ComputeDesiredAngularAcc(const FrameData &_frameData, const EigenTwist &_cmdVel,
+                                                                const Eigen::Vector3d &_acceleration) const {
+  const Eigen::Matrix3d &rot = _frameData.pose.linear();
+
+  // Get the desired rotation matrix.
+  Eigen::Vector3d b1Des = rot.col(0);
+
+  Eigen::Vector3d b3Des;
+  b3Des = -_acceleration / _acceleration.norm();
+
+  // Check if b1 and b3 are parallel. If so, choose a different b1 vector. This
+  // could happen if the UAV is rotated by 90 degrees w.r.t the horizontal
+  // plane.
+  const double tol = 1e-3;
+  if (b1Des.cross(b3Des).squaredNorm() < tol) {
+    // acceleration and b1 are parallel. Choose a different vector
+    b1Des = rot.col(1);
+
+    if (b1Des.cross(b3Des).squaredNorm() < tol) {
+      b1Des = rot.col(2);
+    }
+  }
+
+  Eigen::Vector3d b2Des;
+  b2Des = b3Des.cross(b1Des);
+  b2Des.normalize();
+
+  Eigen::Matrix3d rotDes;
+  rotDes.col(0) = b2Des.cross(b3Des);
+  rotDes.col(1) = b2Des;
+  rotDes.col(2) = b3Des;
+
+  // Angle error according to lee et al.
+  Eigen::Matrix3d angleErrorMatrix = 0.5 * (rotDes.transpose() * rot - rot.transpose() * rotDes);
+  Eigen::Vector3d angleError       = vectorFromSkewMatrix(angleErrorMatrix);
+
+  Eigen::Vector3d angularRateDes(Eigen::Vector3d::Zero());
+  angularRateDes[2] = _cmdVel.angular[2];
+
+  // The paper shows
+  // e_omega = omega - R.T * R_d * omega_des
+  // The code in the RotorS implementation has
+  // e_omega = omega - R_d.T * R * omega_des
+  Eigen::Vector3d angularRateError = _frameData.angularVelocityBody - rot.transpose() * rotDes * angularRateDes;
+
+  // The following MOI terms are computed in the paper, but the RotorS
+  // implementation ignores them. They don't appear to make much of a
+  // difference.
+  // Eigen::Matrix3d moi = this->vehicleParameters.inertia;
+  // const Eigen::Vector3d &omega = _frameData.angularVelocityBody;
+
+  // Eigen::Vector3d moiTerm = omega.cross(moi * omega);
+
+  // Eigen::Vector3d moiTerm2 = moi * (skewMatrixFromVector(omega) *
+  //                            rot.transpose() * rotDes * angularRateDes);
+
+  // std::cout << moiTerm2.transpose() << std::endl;
+  // return -1 * angleError.cwiseProduct(this->normalizedAttitudeGain) -
+  //         angularRateError.cwiseProduct(this->normalizedAngularRateGain) +
+  //         moiTerm - moiTerm2;
+  return -1 * angleError.cwiseProduct(this->normalizedAttitudeGain) - angularRateError.cwiseProduct(this->normalizedAngularRateGain);
+}
+
+//}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
new file mode 100644
index 00000000..5f07751a
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
@@ -0,0 +1,64 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
+
+#include <Eigen/Geometry>
+#include <memory>
+#include "ignition/gazebo/config.hh"
+
+#include "Common.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+struct LeeVelocityControllerParameters
+{
+  Eigen::Vector3d velocityGain;
+  Eigen::Vector3d attitudeGain;
+  Eigen::Vector3d angularRateGain;
+  Eigen::Vector3d maxLinearAcceleration;
+};
+
+class LeeVelocityController {
+
+public:
+  static std::unique_ptr<LeeVelocityController> MakeController(const LeeVelocityControllerParameters &_controllerParams,
+                                                               const VehicleParameters &              _vehicleParams);
+
+  void CalculateRotorVelocities(const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const;
+
+private:
+  LeeVelocityController() = default;
+
+  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &_frameData, const EigenTwist &_cmdVel) const;
+
+  Eigen::Vector3d ComputeDesiredAngularAcc(const FrameData &_frameData, const EigenTwist &_cmdVel, const Eigen::Vector3d &_acceleration) const;
+
+  bool InitializeParameters();
+
+  LeeVelocityControllerParameters controllerParameters;
+
+  VehicleParameters vehicleParameters;
+
+  Eigen::Vector3d normalizedAttitudeGain;
+
+  Eigen::Vector3d normalizedAngularRateGain;
+
+  Eigen::MatrixX4d angularAccToRotorVelocities;
+};
+
+}  // namespace multicopter_control
+
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
new file mode 100644
index 00000000..3ea2cb6e
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
@@ -0,0 +1,358 @@
+/* includes //{ */
+
+#include <ignition/msgs/actuators.pb.h>
+#include <ignition/msgs/twist.pb.h>
+
+#include <limits>
+
+#include <ignition/common/Profiler.hh>
+
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include <ignition/math/Inertial.hh>
+#include <ignition/math/Vector3.hh>
+
+#include <ignition/math/eigen3/Conversions.hh>
+
+#include <sdf/sdf.hh>
+
+#include "ignition/gazebo/components/Actuators.hh"
+#include "ignition/gazebo/components/Gravity.hh"
+#include "ignition/gazebo/components/Inertial.hh"
+#include "ignition/gazebo/components/Link.hh"
+#include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/Link.hh"
+#include "ignition/gazebo/Model.hh"
+
+#include "MRSMultirotorController.hh"
+
+//}
+
+/* using //{ */
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+using namespace multicopter_control;
+
+//}
+
+// | -------------------- plugin interface -------------------- |
+
+/* configure() //{ */
+
+void MRSMultirotorController::Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm,
+                                        EventManager & /*_eventMgr*/) {
+  this->model = Model(_entity);
+
+  if (!this->model.Valid(_ecm)) {
+    ignerr << "MRSMultirotorController plugin should be attached to a model "
+           << "entity. Failed to initialize." << std::endl;
+    return;
+  }
+
+  auto sdfClone = _sdf->Clone();
+
+  if (sdfClone->HasElement("comLinkName")) {
+    this->comLinkName = sdfClone->Get<std::string>("comLinkName");
+  }
+
+  if (this->comLinkName.empty()) {
+    ignerr << "found an empty comLinkName parameter. Failed to initialize.\n";
+    return;
+  }
+
+  // Get the link entity
+  this->comLinkEntity = this->model.LinkByName(_ecm, this->comLinkName);
+
+  if (this->comLinkEntity == kNullEntity) {
+    ignerr << "Link " << this->comLinkName << " could not be found. Failed to initialize.\n";
+    return;
+  }
+
+  createFrameDataComponents(_ecm, this->comLinkEntity);
+
+  VehicleParameters vehicleParams;
+
+  math::Inertiald vehicleInertial;
+
+  // Compute the vehicle's moment of inertia and mass assuming that all the
+  // links in the model belong to the vehicle.
+  for (const Entity &link : _ecm.ChildrenByComponents(this->model.Entity(), components::Link())) {
+    auto inertial = _ecm.Component<components::Inertial>(link);
+    if (nullptr == inertial) {
+      ignerr << "Could not find inertial component on on link " << this->comLinkName << std::endl;
+      return;
+    }
+    vehicleInertial += inertial->Data();
+  }
+
+  vehicleParams.mass    = vehicleInertial.MassMatrix().Mass();
+  vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
+  if (sdfClone->HasElement("rotorConfiguration")) {
+    vehicleParams.rotorConfiguration = loadRotorConfiguration(_ecm, sdfClone->GetElement("rotorConfiguration"), this->model, this->comLinkEntity);
+    // DEBUG
+    // std::cout << "Found "
+    //           << vehicleParams.rotorConfiguration.size()
+    //           << " rotors" << std::endl;
+    // for (const auto &rotor : vehicleParams.rotorConfiguration)
+    // {
+    //   std::cout << rotor.angle << " "
+    //             << rotor.armLength << " " << rotor.forceConstant << " "
+    //             << rotor.momentConstant << " " << rotor.direction << "\n\n";
+    // }
+  } else {
+    ignerr << "Please specify rotorConfiguration.\n";
+  }
+
+  this->rotorVelocities.resize(vehicleParams.rotorConfiguration.size());
+
+  auto worldEntity = _ecm.EntityByComponents(components::World());
+
+  if (kNullEntity == worldEntity) {
+    ignerr << "World entity missing." << std::endl;
+    return;
+  }
+
+  // Get the world acceleration (defined in world frame)
+  auto gravityComp = _ecm.Component<components::Gravity>(worldEntity);
+
+  if (nullptr == gravityComp) {
+    ignerr << "World missing gravity." << std::endl;
+    return;
+  }
+
+  vehicleParams.gravity = math::eigen3::convert(gravityComp->Data());
+
+  LeeVelocityControllerParameters controllerParameters;
+
+  if (sdfClone->HasElement("velocityGain")) {
+    controllerParameters.velocityGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("velocityGain"));
+  } else {
+    ignerr << "Please specify velocityGain for MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdfClone->HasElement("attitudeGain")) {
+    controllerParameters.attitudeGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("attitudeGain"));
+  } else {
+    ignerr << "Please specify attitudeGain for MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdfClone->HasElement("angularRateGain")) {
+    controllerParameters.angularRateGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("angularRateGain"));
+  } else {
+    ignerr << "Please specify angularRateGain MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdfClone->HasElement("maximumLinearAcceleration")) {
+    controllerParameters.maxLinearAcceleration = math::eigen3::convert(sdfClone->Get<math::Vector3d>("maximumLinearAcceleration"));
+  } else {
+    controllerParameters.maxLinearAcceleration.setConstant(std::numeric_limits<double>::max());
+  }
+
+  if (sdfClone->HasElement("maximumLinearVelocity")) {
+    this->maximumLinearVelocity = sdfClone->Get<math::Vector3d>("maximumLinearVelocity").Abs();
+  } else {
+    this->maximumLinearVelocity.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+  }
+
+  if (sdfClone->HasElement("maximumAngularVelocity")) {
+    this->maximumAngularVelocity = sdfClone->Get<math::Vector3d>("maximumAngularVelocity").Abs();
+  } else {
+    this->maximumAngularVelocity.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+  }
+
+  this->velocityController = LeeVelocityController::MakeController(controllerParameters, vehicleParams);
+
+  if (nullptr == this->velocityController) {
+    ignerr << "Error while creating the LeeVelocityController\n";
+    return;
+  }
+
+  math::Vector3d linearVelocityMean{0, 0, 0};
+  sdfClone->Get<math::Vector3d>("linearVelocityNoiseMean", linearVelocityMean, linearVelocityMean);
+
+  math::Vector3d linearVelocityStdDev{0, 0, 0};
+  sdfClone->Get<math::Vector3d>("linearVelocityNoiseStdDev", linearVelocityStdDev, linearVelocityStdDev);
+
+  math::Vector3d angularVelocityMean{0, 0, 0};
+  sdfClone->Get<math::Vector3d>("angularVelocityNoiseMean", angularVelocityMean, angularVelocityMean);
+
+  math::Vector3d angularVelocityStdDev{0, 0, 0};
+  sdfClone->Get<math::Vector3d>("angularVelocityNoiseStdDev", angularVelocityStdDev, angularVelocityStdDev);
+
+  this->noiseParameters.linearVelocityMean    = math::eigen3::convert(linearVelocityMean);
+  this->noiseParameters.linearVelocityStdDev  = math::eigen3::convert(linearVelocityStdDev);
+  this->noiseParameters.angularVelocityMean   = math::eigen3::convert(angularVelocityMean);
+  this->noiseParameters.angularVelocityStdDev = math::eigen3::convert(angularVelocityStdDev);
+
+  if (sdfClone->HasElement("robotNamespace")) {
+    this->robotNamespace = transport::TopicUtils::AsValidTopic(sdfClone->Get<std::string>("robotNamespace"));
+    if (this->robotNamespace.empty()) {
+      ignerr << "Robot namespace [" << sdfClone->Get<std::string>("robotNamespace") << "] is invalid." << std::endl;
+      return;
+    }
+  } else {
+    ignerr << "Please specify a robotNamespace.\n";
+    return;
+  }
+
+  sdfClone->Get<std::string>("commandSubTopic", this->commandSubTopic, this->commandSubTopic);
+  this->commandSubTopic = transport::TopicUtils::AsValidTopic(this->commandSubTopic);
+  if (this->commandSubTopic.empty()) {
+    ignerr << "Invalid command sub-topic." << std::endl;
+    return;
+  }
+
+  sdfClone->Get<std::string>("enableSubTopic", this->enableSubTopic, this->enableSubTopic);
+  this->enableSubTopic = transport::TopicUtils::AsValidTopic(this->enableSubTopic);
+  if (this->enableSubTopic.empty()) {
+    ignerr << "Invalid enable sub-topic." << std::endl;
+    return;
+  }
+
+  // Subscribe to actuator command messages
+  std::string topic{this->robotNamespace + "/" + this->commandSubTopic};
+
+  this->node.Subscribe(topic, &MRSMultirotorController::OnTwist, this);
+  ignmsg << "MRSMultirotorController subscribing to Twist messages on [" << topic << "]" << std::endl;
+
+  std::string enableTopic{this->robotNamespace + "/" + this->enableSubTopic};
+  this->node.Subscribe(enableTopic, &MRSMultirotorController::OnEnable, this);
+  ignmsg << "MRSMultirotorController subscribing to Boolean messages on [" << enableTopic << "]" << std::endl;
+
+  // Create the Actuators component to take control of rotor speeds
+  this->rotorVelocitiesMsg.mutable_velocity()->Resize(this->rotorVelocities.size(), 0);
+
+  _ecm.CreateComponent(this->model.Entity(), components::Actuators(this->rotorVelocitiesMsg));
+
+  this->initialized = true;
+}
+
+//}
+
+/* PreUpdate() //{ */
+
+void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) {
+
+  IGN_PROFILE("MRSMultirotorController::PreUpdate");
+
+  if (!this->initialized) {
+    return;
+  }
+
+  // \TODO(anyone) Support rewind
+  if (_info.dt < std::chrono::steady_clock::duration::zero()) {
+    ignwarn << "Detected jump back in time [" << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count() << "s]. System may not work properly."
+            << std::endl;
+  }
+
+  // Nothing left to do if paused.
+  if (_info.paused) {
+    return;
+  }
+
+  if (!this->controllerActive) {
+    // If the last published rotor velocities were not 0, publish zero
+    // velocities
+    if (this->rotorVelocities.squaredNorm() > 0) {
+      this->rotorVelocities.setZero();
+      this->PublishRotorVelocities(_ecm, this->rotorVelocities);
+      // Clear the cmdVelMsg so that the system waits for a new command after
+      // being renabled.
+      std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
+      this->cmdVelMsg.reset();
+    }
+    return;
+  }
+
+  EigenTwist cmdVel;
+  {
+    std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
+    if (!this->cmdVelMsg.has_value()) {
+      return;
+    }
+
+    // Clip with max linear velocity
+    math::Vector3d linear = msgs::Convert(this->cmdVelMsg->linear());
+    linear.Min(this->maximumLinearVelocity);
+    linear.Max(-this->maximumLinearVelocity);
+
+    math::Vector3d angular = msgs::Convert(this->cmdVelMsg->angular());
+    angular.Min(this->maximumAngularVelocity);
+    angular.Max(-this->maximumAngularVelocity);
+
+    cmdVel.linear  = math::eigen3::convert(linear);
+    cmdVel.angular = math::eigen3::convert(angular);
+  }
+
+  std::optional<FrameData> frameData = getFrameData(_ecm, this->comLinkEntity, this->noiseParameters);
+  if (!frameData.has_value()) {
+    // Errors would have already been printed
+    return;
+  }
+
+  this->velocityController->CalculateRotorVelocities(*frameData, cmdVel, this->rotorVelocities);
+
+  this->PublishRotorVelocities(_ecm, this->rotorVelocities);
+}
+
+//}
+
+/* OnTwist() //{ */
+
+void MRSMultirotorController::OnTwist(const msgs::Twist &_msg) {
+  std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
+  this->cmdVelMsg = _msg;
+
+  printf("PEEEEEES\n");
+}
+
+//}
+
+/* OnEnabled() //{ */
+
+void MRSMultirotorController::OnEnable(const msgs::Boolean &_msg) {
+  this->controllerActive = _msg.data();
+}
+
+//}
+
+/* PublishRotorVelocities() //{ */
+
+void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityComponentManager &_ecm, const Eigen::VectorXd &_vels) {
+
+  if (_vels.size() != this->rotorVelocitiesMsg.velocity_size()) {
+    this->rotorVelocitiesMsg.mutable_velocity()->Resize(_vels.size(), 0);
+  }
+
+  for (int i = 0; i < this->rotorVelocities.size(); ++i) {
+    this->rotorVelocitiesMsg.set_velocity(i, _vels(i));
+  }
+
+  // Publish the message by setting the Actuators component on the model entity.
+  // This assumes that the MulticopterMotorModel system is attached to this
+  // model
+  auto actuatorMsgComp = _ecm.Component<components::Actuators>(this->model.Entity());
+
+  if (actuatorMsgComp) {
+    auto compFunc = [](const msgs::Actuators &_a, const msgs::Actuators &_b) {
+      return std::equal(_a.velocity().begin(), _a.velocity().end(), _b.velocity().begin());
+    };
+    auto state = actuatorMsgComp->SetData(this->rotorVelocitiesMsg, compFunc) ? ComponentState::PeriodicChange : ComponentState::NoChange;
+    _ecm.SetChanged(this->model.Entity(), components::Actuators::typeId, state);
+  } else {
+    _ecm.CreateComponent(this->model.Entity(), components::Actuators(this->rotorVelocitiesMsg));
+  }
+}
+
+//}
+
+IGNITION_ADD_PLUGIN(MRSMultirotorController, ignition::gazebo::System, MRSMultirotorController::ISystemConfigure, MRSMultirotorController::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(MRSMultirotorController, "ignition::gazebo::systems::MRSMultirotorController")
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
new file mode 100644
index 00000000..c6a5d6f7
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
@@ -0,0 +1,83 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
+
+/* includes //{ */
+
+#include <Eigen/Geometry>
+#include <memory>
+#include <string>
+
+#include <ignition/transport/Node.hh>
+
+#include <ignition/gazebo/System.hh>
+#include "ignition/gazebo/Link.hh"
+#include "ignition/gazebo/Model.hh"
+
+#include "Common.hh"
+#include "LeeVelocityController.hh"
+
+//}
+
+namespace ignition
+{
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public ISystemConfigure, public ISystemPreUpdate {
+
+public:
+  MRSMultirotorController() = default;
+
+  void Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override;
+
+  void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
+
+private:
+  // | -------------------- plugin interface -------------------- |
+
+  void OnTwist(const msgs::Twist &_msg);
+  void OnEnable(const msgs::Boolean &_msg);
+  void PublishRotorVelocities(ignition::gazebo::EntityComponentManager &_ecm, const Eigen::VectorXd &_vels);
+
+  Model  model{kNullEntity};
+  Entity comLinkEntity;
+
+  std::string comLinkName;
+
+  std::string robotNamespace;
+  std::string commandSubTopic{"cmd_vel"};
+  std::string enableSubTopic{"enable"};
+
+  transport::Node node;
+
+  Eigen::VectorXd rotorVelocities;
+
+  std::unique_ptr<multicopter_control::LeeVelocityController> velocityController;
+
+  multicopter_control::NoiseParameters noiseParameters;
+
+  std::optional<msgs::Twist> cmdVelMsg;
+
+  math::Vector3d maximumLinearVelocity;
+
+  math::Vector3d maximumAngularVelocity;
+
+  std::mutex cmdVelMsgMutex;
+
+  msgs::Actuators rotorVelocitiesMsg;
+
+  bool initialized{false};
+
+  std::atomic<bool> controllerActive{true};
+};
+
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh b/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
new file mode 100644
index 00000000..7c5df19f
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
@@ -0,0 +1,52 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
+
+#include <Eigen/Geometry>
+#include <vector>
+
+#include "ignition/gazebo/config.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+struct Rotor
+{
+  double angle;
+  double armLength;
+  double forceConstant;
+  double momentConstant;
+  int    direction;
+};
+
+using RotorConfiguration = std::vector<Rotor>;
+
+struct VehicleParameters
+{
+  double             mass;
+  Eigen::Matrix3d    inertia;
+  Eigen::Vector3d    gravity;
+  RotorConfiguration rotorConfiguration;
+};
+
+struct NoiseParameters
+{
+  Eigen::Vector3d linearVelocityMean;
+  Eigen::Vector3d linearVelocityStdDev;
+  Eigen::Vector3d angularVelocityMean;
+  Eigen::Vector3d angularVelocityStdDev;
+};
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif

From 06dc277ae1c353d55c1fa4064bd6a798e5e1511d Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 2 Mar 2021 17:58:03 +0100
Subject: [PATCH 02/22] + ROS, + control reference MSG

---
 .../CMakeLists.txt                            | 39 +++++++++---
 .../msg/ControlReference.msg                  |  8 +++
 .../marble_qav500_sensor_config_1/package.xml |  6 ++
 .../src/Common.cc                             |  3 +
 .../src/LeeVelocityController.cc              |  9 +--
 .../src/MRSMultirotorController.cc            | 63 ++++++++++++++-----
 .../src/MRSMultirotorController.hh            | 11 ++++
 7 files changed, 111 insertions(+), 28 deletions(-)
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg

diff --git a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
index 2a8ab59a..f8b90033 100644
--- a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
@@ -2,7 +2,14 @@ cmake_minimum_required(VERSION 3.1.2)
 
 project(marble_qav500_sensor_config_1)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_generation
+  message_runtime
+  std_msgs
+  geometry_msgs
+)
+
 find_package(ignition-gazebo4 REQUIRED)
 find_package(ignition-transport9 REQUIRED)
 find_package(ignition-common3 REQUIRED)
@@ -11,7 +18,22 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-catkin_package()
+add_message_files(DIRECTORY msg FILES
+  ControlReference.msg
+)
+
+generate_messages(DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime message_generation roscpp std_msgs geometry_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
 
 add_library(MRSMultirotorController SHARED
   src/MRSMultirotorController.cc
@@ -20,20 +42,23 @@ add_library(MRSMultirotorController SHARED
 )
 
 target_link_libraries(MRSMultirotorController
+  PUBLIC ${catkin_LIBRARIES}
   PRIVATE ignition-plugin1::ignition-plugin1
   PRIVATE ignition-gazebo4::ignition-gazebo4
   PRIVATE ignition-common3::ignition-common3
   PRIVATE ignition-transport9::ignition-transport9
   PRIVATE Eigen3::Eigen
-  )
+)
 
 install(DIRECTORY launch meshes urdf materials worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 install(TARGETS MRSMultirotorController
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-        RUNTIME DESTINATION bin)
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
diff --git a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
new file mode 100644
index 00000000..a6612e6f
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
@@ -0,0 +1,8 @@
+std_msgs/Header header
+
+geometry_msgs/Point velocity
+geometry_msgs/Point acceleration
+geometry_msgs/Point jerk
+
+float64 heading
+float64 heading_rate
diff --git a/submitted_models/marble_qav500_sensor_config_1/package.xml b/submitted_models/marble_qav500_sensor_config_1/package.xml
index 6b2123c8..c604aa32 100644
--- a/submitted_models/marble_qav500_sensor_config_1/package.xml
+++ b/submitted_models/marble_qav500_sensor_config_1/package.xml
@@ -24,4 +24,10 @@
   <buildtool_depend>urdf</buildtool_depend>
   <buildtool_depend>xacro</buildtool_depend>
 
+  <depend>roscpp</depend>
+  <depend>message_generation</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
 </package>
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Common.cc b/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
index 2405d91a..5997089d 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
@@ -230,6 +230,9 @@ std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const
   auto frameData = std::make_optional<FrameData>(
       {math::eigen3::convert(poseComp->Data()), math::eigen3::convert(velComp->Data()), math::eigen3::convert(angVelComp->Data())});
 
+  // --------------------------------------------------------------
+  // |         add noise to the ideal simulated UAV states        |
+  // --------------------------------------------------------------
   applyNoise(frameData->linearVelocityWorld, _noise.linearVelocityMean, _noise.linearVelocityStdDev);
   applyNoise(frameData->angularVelocityBody, _noise.angularVelocityMean, _noise.angularVelocityStdDev);
 
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
index a9b3b2ea..221f2a3f 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
@@ -16,8 +16,7 @@ namespace multicopter_control
 
 std::unique_ptr<LeeVelocityController> LeeVelocityController::MakeController(const LeeVelocityControllerParameters &_controllerParams,
                                                                              const VehicleParameters &              _vehicleParams) {
-  // auto controller = std::make_unique<LeeVelocityController>();
-  // Can't use make_unique here because the constructor is private
+
   std::unique_ptr<LeeVelocityController> controller(new LeeVelocityController());
 
   controller->controllerParameters = _controllerParams;
@@ -54,10 +53,11 @@ bool LeeVelocityController::InitializeParameters() {
   moi(3, 3)             = 1;
 
   this->angularAccToRotorVelocities.resize(this->vehicleParameters.rotorConfiguration.size(), 4);
+
+  const auto &aMat = *allocationMatrix;
+
   // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
   // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
-  //
-  const auto &aMat                  = *allocationMatrix;
   this->angularAccToRotorVelocities = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
 
   return true;
@@ -92,6 +92,7 @@ void LeeVelocityController::CalculateRotorVelocities(const FrameData &_frameData
 /* ComputeDesiredAcceleration() //{ */
 
 Eigen::Vector3d LeeVelocityController::ComputeDesiredAcceleration(const FrameData &_frameData, const EigenTwist &_cmdVel) const {
+
   Eigen::Vector3d velocityError = _frameData.linearVelocityWorld - _frameData.pose.linear() * _cmdVel.linear;
 
   Eigen::Vector3d accelCommand = velocityError.cwiseProduct(this->controllerParameters.velocityGain) / this->vehicleParameters.mass;
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
index 3ea2cb6e..49952c18 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
@@ -41,10 +41,18 @@ using namespace multicopter_control;
 
 // | -------------------- plugin interface -------------------- |
 
-/* configure() //{ */
+/* Configure() //{ */
+
+void MRSMultirotorController::Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm, EventManager &) {
+
+  // init ros node
+  int    argc = 0;
+  char **argv = NULL;
+  ros::init(argc, argv, "mrs_multirotor_controller", ros::init_options::NoSigintHandler);
+  ros::NodeHandle ros_nh = ros::NodeHandle("~");
+
+  ROS_INFO("[%s]: initializing", ros::this_node::getName().c_str());
 
-void MRSMultirotorController::Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm,
-                                        EventManager & /*_eventMgr*/) {
   this->model = Model(_entity);
 
   if (!this->model.Valid(_ecm)) {
@@ -91,18 +99,9 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
 
   vehicleParams.mass    = vehicleInertial.MassMatrix().Mass();
   vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
+
   if (sdfClone->HasElement("rotorConfiguration")) {
     vehicleParams.rotorConfiguration = loadRotorConfiguration(_ecm, sdfClone->GetElement("rotorConfiguration"), this->model, this->comLinkEntity);
-    // DEBUG
-    // std::cout << "Found "
-    //           << vehicleParams.rotorConfiguration.size()
-    //           << " rotors" << std::endl;
-    // for (const auto &rotor : vehicleParams.rotorConfiguration)
-    // {
-    //   std::cout << rotor.angle << " "
-    //             << rotor.armLength << " " << rotor.forceConstant << " "
-    //             << rotor.momentConstant << " " << rotor.direction << "\n\n";
-    // }
   } else {
     ignerr << "Please specify rotorConfiguration.\n";
   }
@@ -231,7 +230,20 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
 
   _ecm.CreateComponent(this->model.Entity(), components::Actuators(this->rotorVelocitiesMsg));
 
+  // --------------------------------------------------------------
+  // |                   custom ROS subscribers                   |
+  // --------------------------------------------------------------
+
+  std::string robot_name = this->model.Name(_ecm);
+
+  subscriber_control_reference_ =
+      ros_nh.subscribe(robot_name + "/control_reference", 10, &MRSMultirotorController::callbackControlReference, this, ros::TransportHints().tcpNoDelay());
+
+  // | ---------------- finish the initialization --------------- |
+
   this->initialized = true;
+
+  ROS_INFO("[%s]: initialized", ros::this_node::getName().c_str());
 }
 
 //}
@@ -246,7 +258,6 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     return;
   }
 
-  // \TODO(anyone) Support rewind
   if (_info.dt < std::chrono::steady_clock::duration::zero()) {
     ignwarn << "Detected jump back in time [" << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count() << "s]. System may not work properly."
             << std::endl;
@@ -258,6 +269,7 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
   }
 
   if (!this->controllerActive) {
+
     // If the last published rotor velocities were not 0, publish zero
     // velocities
     if (this->rotorVelocities.squaredNorm() > 0) {
@@ -278,7 +290,7 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
       return;
     }
 
-    // Clip with max linear velocity
+    // clip with max linear velocity
     math::Vector3d linear = msgs::Convert(this->cmdVelMsg->linear());
     linear.Min(this->maximumLinearVelocity);
     linear.Max(-this->maximumLinearVelocity);
@@ -292,8 +304,8 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
   }
 
   std::optional<FrameData> frameData = getFrameData(_ecm, this->comLinkEntity, this->noiseParameters);
+
   if (!frameData.has_value()) {
-    // Errors would have already been printed
     return;
   }
 
@@ -307,10 +319,11 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
 /* OnTwist() //{ */
 
 void MRSMultirotorController::OnTwist(const msgs::Twist &_msg) {
+
   std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
   this->cmdVelMsg = _msg;
 
-  printf("PEEEEEES\n");
+  ROS_INFO_THROTTLE(1.0, "[%s]: MRS controller at work", ros::this_node::getName().c_str());
 }
 
 //}
@@ -318,6 +331,7 @@ void MRSMultirotorController::OnTwist(const msgs::Twist &_msg) {
 /* OnEnabled() //{ */
 
 void MRSMultirotorController::OnEnable(const msgs::Boolean &_msg) {
+
   this->controllerActive = _msg.data();
 }
 
@@ -353,6 +367,21 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
 
 //}
 
+// | ------------------- custom MRS routines ------------------ |
+
+/* callbackControlReference() //{ */
+
+void MRSMultirotorController::callbackControlReference(const marble_qav500_sensor_config_1::ControlReference::ConstPtr &msg) {
+
+  if (!initialized) {
+    return;
+  }
+
+  ROS_INFO_THROTTLE(1.0, "[%s]: getting the control reference", ros::this_node::getName().c_str());
+}
+
+//}
+
 IGNITION_ADD_PLUGIN(MRSMultirotorController, ignition::gazebo::System, MRSMultirotorController::ISystemConfigure, MRSMultirotorController::ISystemPreUpdate)
 
 IGNITION_ADD_PLUGIN_ALIAS(MRSMultirotorController, "ignition::gazebo::systems::MRSMultirotorController")
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
index c6a5d6f7..3b3074b9 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
@@ -16,6 +16,10 @@
 #include "Common.hh"
 #include "LeeVelocityController.hh"
 
+#include <ros/package.h>
+#include <ros/ros.h>
+#include <marble_qav500_sensor_config_1/ControlReference.h>
+
 //}
 
 namespace ignition
@@ -73,6 +77,13 @@ private:
   bool initialized{false};
 
   std::atomic<bool> controllerActive{true};
+
+  // | --- subscribing to the special control reference topic --- |
+
+  void                                            callbackControlReference(const marble_qav500_sensor_config_1::ControlReference::ConstPtr &msg);
+  ros::Subscriber                                 subscriber_control_reference_;
+  bool                                            got_control_reference_ = false;
+  marble_qav500_sensor_config_1::ControlReference control_reference_;
 };
 
 }  // namespace systems

From 412b1c4632d33fb36cc5c8ccd9cfc760a892fc31 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 2 Mar 2021 18:46:00 +0100
Subject: [PATCH 03/22] saving the reference

---
 .../msg/ControlReference.msg                         |  1 -
 .../src/MRSMultirotorController.cc                   | 12 +++++++++---
 .../src/MRSMultirotorController.hh                   |  2 +-
 3 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
index a6612e6f..10734756 100644
--- a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
+++ b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
@@ -4,5 +4,4 @@ geometry_msgs/Point velocity
 geometry_msgs/Point acceleration
 geometry_msgs/Point jerk
 
-float64 heading
 float64 heading_rate
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
index 49952c18..da849694 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
@@ -258,6 +258,8 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     return;
   }
 
+  ros::spinOnce();
+
   if (_info.dt < std::chrono::steady_clock::duration::zero()) {
     ignwarn << "Detected jump back in time [" << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count() << "s]. System may not work properly."
             << std::endl;
@@ -371,13 +373,17 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
 
 /* callbackControlReference() //{ */
 
-void MRSMultirotorController::callbackControlReference(const marble_qav500_sensor_config_1::ControlReference::ConstPtr &msg) {
+void MRSMultirotorController::callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg) {
 
-  if (!initialized) {
+  if (!this->initialized) {
     return;
   }
 
-  ROS_INFO_THROTTLE(1.0, "[%s]: getting the control reference", ros::this_node::getName().c_str());
+  got_control_reference_ = true;
+
+  control_reference_ = *msg;
+
+  ROS_INFO_THROTTLE(5.0, "[%s]: getting the control reference", ros::this_node::getName().c_str());
 }
 
 //}
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
index 3b3074b9..6c994cee 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
@@ -80,7 +80,7 @@ private:
 
   // | --- subscribing to the special control reference topic --- |
 
-  void                                            callbackControlReference(const marble_qav500_sensor_config_1::ControlReference::ConstPtr &msg);
+  void                                            callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
   ros::Subscriber                                 subscriber_control_reference_;
   bool                                            got_control_reference_ = false;
   marble_qav500_sensor_config_1::ControlReference control_reference_;

From 820029682acb60d158afe6ed64412c6db11b60b5 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 2 Mar 2021 19:07:05 +0100
Subject: [PATCH 04/22] removed ctu drone symlink

---
 submitted_models/ctu_cras_norlab_x500 | 1 -
 1 file changed, 1 deletion(-)
 delete mode 120000 submitted_models/ctu_cras_norlab_x500

diff --git a/submitted_models/ctu_cras_norlab_x500 b/submitted_models/ctu_cras_norlab_x500
deleted file mode 120000
index 56b043cb..00000000
--- a/submitted_models/ctu_cras_norlab_x500
+++ /dev/null
@@ -1 +0,0 @@
-/home/klaxalk/git/ctu_cras_norlab_x500
\ No newline at end of file

From dde4a18b383df49d3c59ba074557e44fe2c511b5 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Wed, 3 Mar 2021 16:09:01 +0100
Subject: [PATCH 05/22] into refactoring the controller original internals

---
 .../CMakeLists.txt                            |   2 +
 .../msg/ControlReference.msg                  |   1 -
 .../src/BacaSE3Controller.cc                  | 188 ++++++++++++
 .../src/BacaSE3Controller.hh                  |  62 ++++
 .../src/MRSMultirotorController.cc            | 284 ++++++++++--------
 .../src/MRSMultirotorController.hh            |  65 ++--
 .../src/Parameters.hh                         |   7 +-
 7 files changed, 447 insertions(+), 162 deletions(-)
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
 create mode 100644 submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh

diff --git a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
index f8b90033..d4021e4e 100644
--- a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
@@ -32,6 +32,7 @@ catkin_package(
 )
 
 include_directories(
+  src
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -39,6 +40,7 @@ add_library(MRSMultirotorController SHARED
   src/MRSMultirotorController.cc
   src/Common.cc
   src/LeeVelocityController.cc
+  src/BacaSE3Controller.cc
 )
 
 target_link_libraries(MRSMultirotorController
diff --git a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
index 10734756..a8ea7cd4 100644
--- a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
+++ b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
@@ -1,6 +1,5 @@
 std_msgs/Header header
 
-geometry_msgs/Point velocity
 geometry_msgs/Point acceleration
 geometry_msgs/Point jerk
 
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
new file mode 100644
index 00000000..17997a84
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
@@ -0,0 +1,188 @@
+/* includes //{ */
+
+#include <BacaSE3Controller.hh>
+
+//}
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+// | ------------------------- PUBLIC ------------------------- |
+
+/* BacaSE3Controller() //{ */
+
+BacaSE3Controller::BacaSE3Controller(const BacaSE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters) {
+
+  _controller_parameters_ = controller_parameters;
+  _vehicle_parameters_    = vehicle_parameters;
+
+  InitializeParameters();
+}
+
+//}
+
+/* CalculateRotorVelocities() //{ */
+
+Eigen::VectorXd BacaSE3Controller::CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command) const {
+
+  Eigen::Vector3d des_acceleration = this->ComputeDesiredAcceleration(simulator_model_data, control_command);
+
+  Eigen::Vector3d des_angular_acceleration = this->SO3Controller(simulator_model_data, control_command, des_acceleration);
+
+  // Project thrust onto body z axis.
+  double thrust = -_vehicle_parameters_.mass * des_acceleration.dot(simulator_model_data.pose.linear().col(2));
+
+  Eigen::Vector4d angularAccelerationThrust;
+
+  angularAccelerationThrust.block<3, 1>(0, 0) = des_angular_acceleration;
+  angularAccelerationThrust(3)                = thrust;
+
+  Eigen::VectorXd rotor_velocities = angular_acc_to_rotor_velocities_ * angularAccelerationThrust;
+
+  rotor_velocities = rotor_velocities.cwiseMax(Eigen::VectorXd::Zero(rotor_velocities.rows()));
+  rotor_velocities = rotor_velocities.cwiseSqrt();
+
+  return rotor_velocities;
+}
+
+//}
+
+// | ------------------------- PRIVATE ------------------------ |
+
+/* InitializeParameters() //{ */
+
+bool BacaSE3Controller::InitializeParameters() {
+
+  auto allocationMatrix = calculateAllocationMatrix(_vehicle_parameters_.rotorConfiguration);
+
+  if (!allocationMatrix.has_value()) {
+    // Error should already be printed by function
+    return false;
+  }
+
+  // make inertia-independent attitude gain
+  normalized_attitude_gain_ = _controller_parameters_.attitudeGain.transpose() * _vehicle_parameters_.inertia.inverse();
+
+  // make inertia-independent attitude rate gain
+  normalized_angular_rate_gain_ = _controller_parameters_.angularRateGain.transpose() * _vehicle_parameters_.inertia.inverse();
+
+  {  // TODO check what this really does and where it comes from
+
+    Eigen::Matrix4d moi;
+    moi.setZero();
+    moi.block<3, 3>(0, 0) = _vehicle_parameters_.inertia;
+    moi(3, 3)             = 1;
+
+    angular_acc_to_rotor_velocities_.resize(_vehicle_parameters_.rotorConfiguration.size(), 4);
+
+    const auto &aMat = *allocationMatrix;
+
+    // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
+    // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
+    angular_acc_to_rotor_velocities_ = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
+  }
+
+  return true;
+}
+
+//}
+
+/* ComputeDesiredAcceleration() //{ */
+
+Eigen::Vector3d BacaSE3Controller::ComputeDesiredAcceleration(const FrameData &simulator_model_data, const EigenTwist &control_command) const {
+
+  Eigen::Vector3d velocityError = simulator_model_data.linearVelocityWorld - simulator_model_data.pose.linear() * control_command.linear;
+
+  Eigen::Vector3d accelCommand = velocityError.cwiseProduct(_controller_parameters_.velocityGain) / _vehicle_parameters_.mass;
+
+  accelCommand = accelCommand.cwiseAbs().cwiseMin(_controller_parameters_.maxLinearAcceleration).cwiseProduct(accelCommand.cwiseSign());
+
+  return accelCommand + _vehicle_parameters_.gravity;
+}
+
+//}
+
+/* SO3Controller() //{ */
+
+Eigen::Vector3d BacaSE3Controller::SO3Controller(const FrameData &simulator_model_data, const EigenTwist &control_command,
+                                                 const Eigen::Vector3d &_acceleration) const {
+
+  const Eigen::Matrix3d &rot = simulator_model_data.pose.linear();
+
+  // Get the desired rotation matrix.
+  Eigen::Vector3d b1Des = rot.col(0);
+
+  Eigen::Vector3d b3Des;
+  b3Des = -_acceleration / _acceleration.norm();
+
+  // Check if b1 and b3 are parallel. If so, choose a different b1 vector. This
+  // could happen if the UAV is rotated by 90 degrees w.r.t the horizontal
+  // plane.
+  const double tol = 1e-3;
+  if (b1Des.cross(b3Des).squaredNorm() < tol) {
+    // acceleration and b1 are parallel. Choose a different vector
+    b1Des = rot.col(1);
+
+    if (b1Des.cross(b3Des).squaredNorm() < tol) {
+      b1Des = rot.col(2);
+    }
+  }
+
+  Eigen::Vector3d b2Des;
+  b2Des = b3Des.cross(b1Des);
+  b2Des.normalize();
+
+  Eigen::Matrix3d rotDes;
+  rotDes.col(0) = b2Des.cross(b3Des);
+  rotDes.col(1) = b2Des;
+  rotDes.col(2) = b3Des;
+
+  // Angle error according to lee et al.
+  Eigen::Matrix3d angleErrorMatrix = 0.5 * (rotDes.transpose() * rot - rot.transpose() * rotDes);
+  Eigen::Vector3d angleError       = vectorFromSkewMatrix(angleErrorMatrix);
+
+  // | ------------------ angular rate control ------------------ |
+
+  Eigen::Vector3d des_angular_rate(Eigen::Vector3d::Zero());
+
+  des_angular_rate[2] = control_command.angular[2];  // set the 'yaw rate' from the control command
+
+  // The paper shows
+  // e_omega = omega - R.T * R_d * omega_des
+  // The code in the RotorS implementation has
+  // e_omega = omega - R_d.T * R * omega_des
+  Eigen::Vector3d angularRateError = simulator_model_data.angularVelocityBody - rot.transpose() * rotDes * des_angular_rate;
+
+  // The following MOI terms are computed in the paper, but the RotorS
+  // implementation ignores them. They don't appear to make much of a
+  // difference.
+  // Eigen::Matrix3d moi = _vehicle_parameters_.inertia;
+  // const Eigen::Vector3d &omega = simulator_model_data.angularVelocityBody;
+
+  // Eigen::Vector3d moiTerm = omega.cross(moi * omega);
+
+  // Eigen::Vector3d moiTerm2 = moi * (skewMatrixFromVector(omega) *
+  //                            rot.transpose() * rotDes * des_angular_rate);
+
+  // std::cout << moiTerm2.transpose() << std::endl;
+  // return -1 * angleError.cwiseProduct(normalized_attitude_gain_) -
+  //         angularRateError.cwiseProduct(normalized_angular_rate_gain_) +
+  //         moiTerm - moiTerm2;
+  return -1 * angleError.cwiseProduct(normalized_attitude_gain_) - angularRateError.cwiseProduct(normalized_angular_rate_gain_);
+}
+
+//}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
new file mode 100644
index 00000000..5971d8d9
--- /dev/null
+++ b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
@@ -0,0 +1,62 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_BACASE3CONTROLLER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_BACASE3CONTROLLER_HH_
+
+#include <Eigen/Geometry>
+#include <Common.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+struct BacaSE3ControllerParameters
+{
+  Eigen::Vector3d velocityGain;
+  Eigen::Vector3d attitudeGain;
+  Eigen::Vector3d angularRateGain;
+  Eigen::Vector3d maxLinearAcceleration;
+};
+
+class BacaSE3Controller {
+
+public:
+  BacaSE3Controller(const BacaSE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters);
+
+  // the main function that returns the result
+  Eigen::VectorXd CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command) const;
+
+private:
+  // | ----------------------- parameters ----------------------- |
+
+  BacaSE3ControllerParameters _controller_parameters_;
+  VehicleParameters           _vehicle_parameters_;
+
+  bool InitializeParameters();
+
+  // parameters computed in during initialization
+  Eigen::Vector3d  normalized_attitude_gain_;
+  Eigen::Vector3d  normalized_angular_rate_gain_;
+  Eigen::MatrixX4d angular_acc_to_rotor_velocities_;
+
+  // | -------------------- internal methods -------------------- |
+
+  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &simulator_model_data, const EigenTwist &control_command) const;
+  Eigen::Vector3d SO3Controller(const FrameData &simulator_model_data, const EigenTwist &control_command, const Eigen::Vector3d &_acceleration) const;
+};
+
+}  // namespace multicopter_control
+
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
index da849694..8cfbec54 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
@@ -17,16 +17,16 @@
 
 #include <sdf/sdf.hh>
 
-#include "ignition/gazebo/components/Actuators.hh"
-#include "ignition/gazebo/components/Gravity.hh"
-#include "ignition/gazebo/components/Inertial.hh"
-#include "ignition/gazebo/components/Link.hh"
-#include "ignition/gazebo/components/ParentEntity.hh"
-#include "ignition/gazebo/components/World.hh"
-#include "ignition/gazebo/Link.hh"
-#include "ignition/gazebo/Model.hh"
+#include <ignition/gazebo/components/Actuators.hh>
+#include <ignition/gazebo/components/Gravity.hh>
+#include <ignition/gazebo/components/Inertial.hh>
+#include <ignition/gazebo/components/Link.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/gazebo/components/World.hh>
+#include <ignition/gazebo/Link.hh>
+#include <ignition/gazebo/Model.hh>
 
-#include "MRSMultirotorController.hh"
+#include <MRSMultirotorController.hh>
 
 //}
 
@@ -43,7 +43,7 @@ using namespace multicopter_control;
 
 /* Configure() //{ */
 
-void MRSMultirotorController::Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm, EventManager &) {
+void MRSMultirotorController::Configure(const Entity &entity, const std::shared_ptr<const sdf::Element> &sdf, EntityComponentManager &ecm, EventManager &) {
 
   // init ros node
   int    argc = 0;
@@ -53,34 +53,42 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
 
   ROS_INFO("[%s]: initializing", ros::this_node::getName().c_str());
 
-  this->model = Model(_entity);
+  {  // gazebo model
 
-  if (!this->model.Valid(_ecm)) {
-    ignerr << "MRSMultirotorController plugin should be attached to a model "
-           << "entity. Failed to initialize." << std::endl;
-    return;
+    _gazebo_model_ = Model(entity);
+
+    if (!_gazebo_model_.Valid(ecm)) {
+      ignerr << "MRSMultirotorController plugin should be attached to a model "
+             << "entity. Failed to initialize." << std::endl;
+      return;
+    }
   }
 
-  auto sdfClone = _sdf->Clone();
+  auto sdf_clone = sdf->Clone();
 
-  if (sdfClone->HasElement("comLinkName")) {
-    this->comLinkName = sdfClone->Get<std::string>("comLinkName");
-  }
+  {  // get the com link name
 
-  if (this->comLinkName.empty()) {
-    ignerr << "found an empty comLinkName parameter. Failed to initialize.\n";
-    return;
+    if (sdf_clone->HasElement("comLinkName")) {
+      _gazebo_model_entity_name_ = sdf_clone->Get<std::string>("comLinkName");
+    }
+
+    if (_gazebo_model_entity_name_.empty()) {
+      ignerr << "found an empty comLinkName parameter. Failed to initialize.\n";
+      return;
+    }
   }
 
-  // Get the link entity
-  this->comLinkEntity = this->model.LinkByName(_ecm, this->comLinkName);
+  {  // get the link entity
 
-  if (this->comLinkEntity == kNullEntity) {
-    ignerr << "Link " << this->comLinkName << " could not be found. Failed to initialize.\n";
-    return;
+    _gazebo_model_entity_ = _gazebo_model_.LinkByName(ecm, _gazebo_model_entity_name_);
+
+    if (_gazebo_model_entity_ == kNullEntity) {
+      ignerr << "Link " << _gazebo_model_entity_name_ << " could not be found. Failed to initialize.\n";
+      return;
+    }
   }
 
-  createFrameDataComponents(_ecm, this->comLinkEntity);
+  createFrameDataComponents(ecm, _gazebo_model_entity_);
 
   VehicleParameters vehicleParams;
 
@@ -88,10 +96,10 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
 
   // Compute the vehicle's moment of inertia and mass assuming that all the
   // links in the model belong to the vehicle.
-  for (const Entity &link : _ecm.ChildrenByComponents(this->model.Entity(), components::Link())) {
-    auto inertial = _ecm.Component<components::Inertial>(link);
+  for (const Entity &link : ecm.ChildrenByComponents(_gazebo_model_.Entity(), components::Link())) {
+    auto inertial = ecm.Component<components::Inertial>(link);
     if (nullptr == inertial) {
-      ignerr << "Could not find inertial component on on link " << this->comLinkName << std::endl;
+      ignerr << "Could not find inertial component on on link " << _gazebo_model_entity_name_ << std::endl;
       return;
     }
     vehicleInertial += inertial->Data();
@@ -100,15 +108,15 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
   vehicleParams.mass    = vehicleInertial.MassMatrix().Mass();
   vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
 
-  if (sdfClone->HasElement("rotorConfiguration")) {
-    vehicleParams.rotorConfiguration = loadRotorConfiguration(_ecm, sdfClone->GetElement("rotorConfiguration"), this->model, this->comLinkEntity);
+  if (sdf_clone->HasElement("rotorConfiguration")) {
+    vehicleParams.rotorConfiguration = loadRotorConfiguration(ecm, sdf_clone->GetElement("rotorConfiguration"), _gazebo_model_, _gazebo_model_entity_);
   } else {
     ignerr << "Please specify rotorConfiguration.\n";
   }
 
-  this->rotorVelocities.resize(vehicleParams.rotorConfiguration.size());
+  rotor_velocities_.resize(vehicleParams.rotorConfiguration.size());
 
-  auto worldEntity = _ecm.EntityByComponents(components::World());
+  auto worldEntity = ecm.EntityByComponents(components::World());
 
   if (kNullEntity == worldEntity) {
     ignerr << "World entity missing." << std::endl;
@@ -116,7 +124,7 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
   }
 
   // Get the world acceleration (defined in world frame)
-  auto gravityComp = _ecm.Component<components::Gravity>(worldEntity);
+  auto gravityComp = ecm.Component<components::Gravity>(worldEntity);
 
   if (nullptr == gravityComp) {
     ignerr << "World missing gravity." << std::endl;
@@ -125,75 +133,75 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
 
   vehicleParams.gravity = math::eigen3::convert(gravityComp->Data());
 
-  LeeVelocityControllerParameters controllerParameters;
+  BacaSE3ControllerParameters controller_parameters;
 
-  if (sdfClone->HasElement("velocityGain")) {
-    controllerParameters.velocityGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("velocityGain"));
+  if (sdf_clone->HasElement("velocityGain")) {
+    controller_parameters.velocityGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("velocityGain"));
   } else {
     ignerr << "Please specify velocityGain for MRSMultirotorController.\n";
     return;
   }
 
-  if (sdfClone->HasElement("attitudeGain")) {
-    controllerParameters.attitudeGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("attitudeGain"));
+  if (sdf_clone->HasElement("attitudeGain")) {
+    controller_parameters.attitudeGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("attitudeGain"));
   } else {
     ignerr << "Please specify attitudeGain for MRSMultirotorController.\n";
     return;
   }
 
-  if (sdfClone->HasElement("angularRateGain")) {
-    controllerParameters.angularRateGain = math::eigen3::convert(sdfClone->Get<math::Vector3d>("angularRateGain"));
+  if (sdf_clone->HasElement("angularRateGain")) {
+    controller_parameters.angularRateGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("angularRateGain"));
   } else {
     ignerr << "Please specify angularRateGain MRSMultirotorController.\n";
     return;
   }
 
-  if (sdfClone->HasElement("maximumLinearAcceleration")) {
-    controllerParameters.maxLinearAcceleration = math::eigen3::convert(sdfClone->Get<math::Vector3d>("maximumLinearAcceleration"));
+  if (sdf_clone->HasElement("maximumLinearAcceleration")) {
+    controller_parameters.maxLinearAcceleration = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("maximumLinearAcceleration"));
   } else {
-    controllerParameters.maxLinearAcceleration.setConstant(std::numeric_limits<double>::max());
+    controller_parameters.maxLinearAcceleration.setConstant(std::numeric_limits<double>::max());
   }
 
-  if (sdfClone->HasElement("maximumLinearVelocity")) {
-    this->maximumLinearVelocity = sdfClone->Get<math::Vector3d>("maximumLinearVelocity").Abs();
+  if (sdf_clone->HasElement("_maximum_linear_velocity_")) {
+    this->_maximum_linear_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_linear_velocity_").Abs();
   } else {
-    this->maximumLinearVelocity.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+    this->_maximum_linear_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
   }
 
-  if (sdfClone->HasElement("maximumAngularVelocity")) {
-    this->maximumAngularVelocity = sdfClone->Get<math::Vector3d>("maximumAngularVelocity").Abs();
+  if (sdf_clone->HasElement("_maximum_angular_velocity_")) {
+    this->_maximum_angular_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_angular_velocity_").Abs();
   } else {
-    this->maximumAngularVelocity.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+    this->_maximum_angular_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
   }
 
-  this->velocityController = LeeVelocityController::MakeController(controllerParameters, vehicleParams);
+  multirotor_controller_ptr_ = std::make_unique<multicopter_control::BacaSE3Controller>(controller_parameters, vehicleParams);
 
-  if (nullptr == this->velocityController) {
+  if (nullptr == multirotor_controller_ptr_) {
     ignerr << "Error while creating the LeeVelocityController\n";
     return;
   }
 
   math::Vector3d linearVelocityMean{0, 0, 0};
-  sdfClone->Get<math::Vector3d>("linearVelocityNoiseMean", linearVelocityMean, linearVelocityMean);
+  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseMean", linearVelocityMean, linearVelocityMean);
 
   math::Vector3d linearVelocityStdDev{0, 0, 0};
-  sdfClone->Get<math::Vector3d>("linearVelocityNoiseStdDev", linearVelocityStdDev, linearVelocityStdDev);
+  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseStdDev", linearVelocityStdDev, linearVelocityStdDev);
 
   math::Vector3d angularVelocityMean{0, 0, 0};
-  sdfClone->Get<math::Vector3d>("angularVelocityNoiseMean", angularVelocityMean, angularVelocityMean);
+  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseMean", angularVelocityMean, angularVelocityMean);
 
   math::Vector3d angularVelocityStdDev{0, 0, 0};
-  sdfClone->Get<math::Vector3d>("angularVelocityNoiseStdDev", angularVelocityStdDev, angularVelocityStdDev);
+  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseStdDev", angularVelocityStdDev, angularVelocityStdDev);
 
-  this->noiseParameters.linearVelocityMean    = math::eigen3::convert(linearVelocityMean);
-  this->noiseParameters.linearVelocityStdDev  = math::eigen3::convert(linearVelocityStdDev);
-  this->noiseParameters.angularVelocityMean   = math::eigen3::convert(angularVelocityMean);
-  this->noiseParameters.angularVelocityStdDev = math::eigen3::convert(angularVelocityStdDev);
+  _noise_parameters_.linearVelocityMean    = math::eigen3::convert(linearVelocityMean);
+  _noise_parameters_.linearVelocityStdDev  = math::eigen3::convert(linearVelocityStdDev);
+  _noise_parameters_.angularVelocityMean   = math::eigen3::convert(angularVelocityMean);
+  _noise_parameters_.angularVelocityStdDev = math::eigen3::convert(angularVelocityStdDev);
 
-  if (sdfClone->HasElement("robotNamespace")) {
-    this->robotNamespace = transport::TopicUtils::AsValidTopic(sdfClone->Get<std::string>("robotNamespace"));
-    if (this->robotNamespace.empty()) {
-      ignerr << "Robot namespace [" << sdfClone->Get<std::string>("robotNamespace") << "] is invalid." << std::endl;
+  if (sdf_clone->HasElement("robotNamespace")) {
+    _robot_namespace_ = transport::TopicUtils::AsValidTopic(sdf_clone->Get<std::string>("robotNamespace"));
+    if (_robot_namespace_.empty()) {
+      ignerr << "Robot namespace [" << sdf_clone->Get<std::string>("robotNamespace") << "] is invalid." << std::endl;
       return;
     }
   } else {
@@ -201,63 +209,76 @@ void MRSMultirotorController::Configure(const Entity &_entity, const std::shared
     return;
   }
 
-  sdfClone->Get<std::string>("commandSubTopic", this->commandSubTopic, this->commandSubTopic);
-  this->commandSubTopic = transport::TopicUtils::AsValidTopic(this->commandSubTopic);
-  if (this->commandSubTopic.empty()) {
+  sdf_clone->Get<std::string>("commandSubTopic", _cmd_vel_topic_, _cmd_vel_topic_);
+  _cmd_vel_topic_ = transport::TopicUtils::AsValidTopic(_cmd_vel_topic_);
+  if (_cmd_vel_topic_.empty()) {
     ignerr << "Invalid command sub-topic." << std::endl;
     return;
   }
 
-  sdfClone->Get<std::string>("enableSubTopic", this->enableSubTopic, this->enableSubTopic);
-  this->enableSubTopic = transport::TopicUtils::AsValidTopic(this->enableSubTopic);
-  if (this->enableSubTopic.empty()) {
+  sdf_clone->Get<std::string>("enableSubTopic", _enable_topic_, _enable_topic_);
+  _enable_topic_ = transport::TopicUtils::AsValidTopic(_enable_topic_);
+  if (_enable_topic_.empty()) {
     ignerr << "Invalid enable sub-topic." << std::endl;
     return;
   }
 
   // Subscribe to actuator command messages
-  std::string topic{this->robotNamespace + "/" + this->commandSubTopic};
+  std::string topic{_robot_namespace_ + "/" + _cmd_vel_topic_};
 
-  this->node.Subscribe(topic, &MRSMultirotorController::OnTwist, this);
+  ignition_node_.Subscribe(topic, &MRSMultirotorController::OnTwist, this);
   ignmsg << "MRSMultirotorController subscribing to Twist messages on [" << topic << "]" << std::endl;
 
-  std::string enableTopic{this->robotNamespace + "/" + this->enableSubTopic};
-  this->node.Subscribe(enableTopic, &MRSMultirotorController::OnEnable, this);
+  std::string enableTopic{_robot_namespace_ + "/" + _enable_topic_};
+  ignition_node_.Subscribe(enableTopic, &MRSMultirotorController::OnEnable, this);
   ignmsg << "MRSMultirotorController subscribing to Boolean messages on [" << enableTopic << "]" << std::endl;
 
   // Create the Actuators component to take control of rotor speeds
-  this->rotorVelocitiesMsg.mutable_velocity()->Resize(this->rotorVelocities.size(), 0);
+  rotor_velocities_msg_.mutable_velocity()->Resize(rotor_velocities_.size(), 0);
 
-  _ecm.CreateComponent(this->model.Entity(), components::Actuators(this->rotorVelocitiesMsg));
+  ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
 
   // --------------------------------------------------------------
   // |                   custom ROS subscribers                   |
   // --------------------------------------------------------------
 
-  std::string robot_name = this->model.Name(_ecm);
+  std::string robot_name = _gazebo_model_.Name(ecm);
 
   subscriber_control_reference_ =
-      ros_nh.subscribe(robot_name + "/control_reference", 10, &MRSMultirotorController::callbackControlReference, this, ros::TransportHints().tcpNoDelay());
+      ros_nh.subscribe(robot_name + "/control_reference", 1, &MRSMultirotorController::callbackControlReference, this, ros::TransportHints().tcpNoDelay());
 
   // | ---------------- finish the initialization --------------- |
 
-  this->initialized = true;
-
   ROS_INFO("[%s]: initialized", ros::this_node::getName().c_str());
+
+  is_initialized_ = true;
 }
 
 //}
 
 /* PreUpdate() //{ */
 
-void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) {
+void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) {
 
   IGN_PROFILE("MRSMultirotorController::PreUpdate");
 
-  if (!this->initialized) {
+  if (!is_initialized_) {
     return;
   }
 
+  msgs::Twist cmd_vel;
+
+  {
+    std::scoped_lock lock(mutex_cmd_vel_);
+
+    if (!cmd_vel_.has_value()) {
+      return;
+    }
+
+    cmd_vel = cmd_vel_.value();
+  }
+
+  // | ---------------------- spin the ROS ---------------------- |
   ros::spinOnce();
 
   if (_info.dt < std::chrono::steady_clock::duration::zero()) {
@@ -265,65 +286,63 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
             << std::endl;
   }
 
-  // Nothing left to do if paused.
+  // nothing left to do if paused.
   if (_info.paused) {
     return;
   }
 
-  if (!this->controllerActive) {
-
-    // If the last published rotor velocities were not 0, publish zero
-    // velocities
-    if (this->rotorVelocities.squaredNorm() > 0) {
-      this->rotorVelocities.setZero();
-      this->PublishRotorVelocities(_ecm, this->rotorVelocities);
-      // Clear the cmdVelMsg so that the system waits for a new command after
-      // being renabled.
-      std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
-      this->cmdVelMsg.reset();
+  if (!is_active_) {
+
+    // if the last published rotor velocities were not 0, publish zero velocities
+    if (rotor_velocities_.squaredNorm() > 0) {
+      rotor_velocities_.setZero();
+      this->PublishRotorVelocities(ecm, rotor_velocities_);
+
+      // clear the cmd_vel_ so that the system waits for a new command after being renabled.
+      std::lock_guard<std::mutex> lock(mutex_cmd_vel_);
+      cmd_vel_.reset();
     }
+
     return;
   }
 
-  EigenTwist cmdVel;
-  {
-    std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
-    if (!this->cmdVelMsg.has_value()) {
-      return;
-    }
+  EigenTwist cmd_vel_eigen;
 
+  {
     // clip with max linear velocity
-    math::Vector3d linear = msgs::Convert(this->cmdVelMsg->linear());
-    linear.Min(this->maximumLinearVelocity);
-    linear.Max(-this->maximumLinearVelocity);
+    math::Vector3d linear = msgs::Convert(cmd_vel.linear());
+    linear.Min(_maximum_linear_velocity_);
+    linear.Max(-_maximum_linear_velocity_);
 
-    math::Vector3d angular = msgs::Convert(this->cmdVelMsg->angular());
-    angular.Min(this->maximumAngularVelocity);
-    angular.Max(-this->maximumAngularVelocity);
+    math::Vector3d angular = msgs::Convert(cmd_vel.angular());
+    angular.Min(_maximum_angular_velocity_);
+    angular.Max(-_maximum_angular_velocity_);
 
-    cmdVel.linear  = math::eigen3::convert(linear);
-    cmdVel.angular = math::eigen3::convert(angular);
+    cmd_vel_eigen.linear  = math::eigen3::convert(linear);
+    cmd_vel_eigen.angular = math::eigen3::convert(angular);
   }
 
-  std::optional<FrameData> frameData = getFrameData(_ecm, this->comLinkEntity, this->noiseParameters);
+  std::optional<FrameData> frameData = getFrameData(ecm, _gazebo_model_entity_, _noise_parameters_);
 
   if (!frameData.has_value()) {
     return;
   }
 
-  this->velocityController->CalculateRotorVelocities(*frameData, cmdVel, this->rotorVelocities);
+  rotor_velocities_ = multirotor_controller_ptr_->CalculateRotorVelocities(frameData.value(), cmd_vel_eigen);
 
-  this->PublishRotorVelocities(_ecm, this->rotorVelocities);
+  this->PublishRotorVelocities(ecm, rotor_velocities_);
 }
 
 //}
 
 /* OnTwist() //{ */
 
-void MRSMultirotorController::OnTwist(const msgs::Twist &_msg) {
+void MRSMultirotorController::OnTwist(const msgs::Twist &msg) {
 
-  std::lock_guard<std::mutex> lock(this->cmdVelMsgMutex);
-  this->cmdVelMsg = _msg;
+  {
+    std::scoped_lock lock(mutex_cmd_vel_);
+    cmd_vel_ = msg;
+  }
 
   ROS_INFO_THROTTLE(1.0, "[%s]: MRS controller at work", ros::this_node::getName().c_str());
 }
@@ -332,38 +351,43 @@ void MRSMultirotorController::OnTwist(const msgs::Twist &_msg) {
 
 /* OnEnabled() //{ */
 
-void MRSMultirotorController::OnEnable(const msgs::Boolean &_msg) {
+void MRSMultirotorController::OnEnable(const msgs::Boolean &msg) {
 
-  this->controllerActive = _msg.data();
+  is_active_ = msg.data();
 }
 
 //}
 
 /* PublishRotorVelocities() //{ */
 
-void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityComponentManager &_ecm, const Eigen::VectorXd &_vels) {
+void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels) {
 
-  if (_vels.size() != this->rotorVelocitiesMsg.velocity_size()) {
-    this->rotorVelocitiesMsg.mutable_velocity()->Resize(_vels.size(), 0);
+  // check the size of the message
+  if (vels.size() != rotor_velocities_msg_.velocity_size()) {
+    rotor_velocities_msg_.mutable_velocity()->Resize(vels.size(), 0);
   }
 
-  for (int i = 0; i < this->rotorVelocities.size(); ++i) {
-    this->rotorVelocitiesMsg.set_velocity(i, _vels(i));
+  // fill in the velocities
+  for (int i = 0; i < rotor_velocities_.size(); ++i) {
+    rotor_velocities_msg_.set_velocity(i, vels(i));
   }
 
   // Publish the message by setting the Actuators component on the model entity.
-  // This assumes that the MulticopterMotorModel system is attached to this
-  // model
-  auto actuatorMsgComp = _ecm.Component<components::Actuators>(this->model.Entity());
+  // This assumes that the MulticopterMotorModel system is attached to this model
+  auto actuatorMsgComp = ecm.Component<components::Actuators>(_gazebo_model_.Entity());
 
   if (actuatorMsgComp) {
+
     auto compFunc = [](const msgs::Actuators &_a, const msgs::Actuators &_b) {
       return std::equal(_a.velocity().begin(), _a.velocity().end(), _b.velocity().begin());
     };
-    auto state = actuatorMsgComp->SetData(this->rotorVelocitiesMsg, compFunc) ? ComponentState::PeriodicChange : ComponentState::NoChange;
-    _ecm.SetChanged(this->model.Entity(), components::Actuators::typeId, state);
+
+    auto state = actuatorMsgComp->SetData(rotor_velocities_msg_, compFunc) ? ComponentState::PeriodicChange : ComponentState::NoChange;
+
+    ecm.SetChanged(_gazebo_model_.Entity(), components::Actuators::typeId, state);
+
   } else {
-    _ecm.CreateComponent(this->model.Entity(), components::Actuators(this->rotorVelocitiesMsg));
+    ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
   }
 }
 
@@ -375,7 +399,7 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
 
 void MRSMultirotorController::callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg) {
 
-  if (!this->initialized) {
+  if (!is_initialized_) {
     return;
   }
 
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
index 6c994cee..189ed1c8 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
@@ -13,13 +13,14 @@
 #include "ignition/gazebo/Link.hh"
 #include "ignition/gazebo/Model.hh"
 
-#include "Common.hh"
-#include "LeeVelocityController.hh"
+#include <Common.hh>
 
 #include <ros/package.h>
 #include <ros/ros.h>
 #include <marble_qav500_sensor_config_1/ControlReference.h>
 
+#include <BacaSE3Controller.hh>
+
 //}
 
 namespace ignition
@@ -36,51 +37,61 @@ class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public IS
 public:
   MRSMultirotorController() = default;
 
-  void Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override;
+  void Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &ecm, EventManager &_eventMgr) override;
 
-  void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
+  void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) override;
 
 private:
-  // | -------------------- plugin interface -------------------- |
 
-  void OnTwist(const msgs::Twist &_msg);
-  void OnEnable(const msgs::Boolean &_msg);
-  void PublishRotorVelocities(ignition::gazebo::EntityComponentManager &_ecm, const Eigen::VectorXd &_vels);
+  bool is_initialized_ = false;
 
-  Model  model{kNullEntity};
-  Entity comLinkEntity;
+  // | ----------------------- parameters ----------------------- |
 
-  std::string comLinkName;
+  math::Vector3d _maximum_linear_velocity_;
+  math::Vector3d _maximum_angular_velocity_;
 
-  std::string robotNamespace;
-  std::string commandSubTopic{"cmd_vel"};
-  std::string enableSubTopic{"enable"};
+  std::string _robot_namespace_;
+  std::string _cmd_vel_topic_{"cmd_vel"};
+  std::string _enable_topic_{"enable"};
 
-  transport::Node node;
+  std::string _gazebo_model_entity_name_;
 
-  Eigen::VectorXd rotorVelocities;
+  // noise parameters
+  // noise to be added to the UAV states received from the simulator
+  multicopter_control::NoiseParameters _noise_parameters_;
+
+  // | -------------------- plugin interface -------------------- |
 
-  std::unique_ptr<multicopter_control::LeeVelocityController> velocityController;
+  void OnTwist(const msgs::Twist &msg);
+  void OnEnable(const msgs::Boolean &msg);
+  void PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels);
 
-  multicopter_control::NoiseParameters noiseParameters;
+  // gazebo links and models
+  Model  _gazebo_model_{kNullEntity};
+  Entity _gazebo_model_entity_;
 
-  std::optional<msgs::Twist> cmdVelMsg;
+  transport::Node ignition_node_;
 
-  math::Vector3d maximumLinearVelocity;
+  Eigen::VectorXd rotor_velocities_;
+  msgs::Actuators rotor_velocities_msg_;
 
-  math::Vector3d maximumAngularVelocity;
+  std::unique_ptr<multicopter_control::BacaSE3Controller> multirotor_controller_ptr_;
 
-  std::mutex cmdVelMsgMutex;
+  std::atomic<bool> is_active_{true};
 
-  msgs::Actuators rotorVelocitiesMsg;
+  // --------------------------------------------------------------
+  // |               subscriber to velocity command               |
+  // --------------------------------------------------------------
 
-  bool initialized{false};
+  std::optional<msgs::Twist> cmd_vel_;
+  std::mutex                 mutex_cmd_vel_;
 
-  std::atomic<bool> controllerActive{true};
+  // --------------------------------------------------------------
+  // |            subscriber for feedforward reference            |
+  // --------------------------------------------------------------
 
-  // | --- subscribing to the special control reference topic --- |
+  void callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
 
-  void                                            callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
   ros::Subscriber                                 subscriber_control_reference_;
   bool                                            got_control_reference_ = false;
   marble_qav500_sensor_config_1::ControlReference control_reference_;
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh b/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
index 7c5df19f..af6b8005 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
@@ -1,10 +1,9 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_PARAMETERS_HH_
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
 
 #include <Eigen/Geometry>
 #include <vector>
-
-#include "ignition/gazebo/config.hh"
+#include <ignition/gazebo/config.hh>
 
 namespace ignition
 {

From 4d390ce61c49e3b4572b134b9e0450fa655dcbe3 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Thu, 4 Mar 2021 09:48:28 +0100
Subject: [PATCH 06/22] faster faster

---
 .../launch/spawner.rb                         |  28 ++--
 .../msg/ControlReference.msg                  |   2 -
 .../src/BacaSE3Controller.cc                  | 137 ++++++++++--------
 .../src/BacaSE3Controller.hh                  |  22 ++-
 .../src/MRSMultirotorController.cc            |  92 ++++++++----
 .../src/MRSMultirotorController.hh            |   9 +-
 6 files changed, 171 insertions(+), 119 deletions(-)

diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
index 1a826104..9b2a0e2b 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
@@ -31,7 +31,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
+        <motorConstant>2.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>0</motorNumber>
@@ -50,7 +50,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
+        <motorConstant>2.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>1</motorNumber>
@@ -69,7 +69,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
+        <motorConstant>2.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>2</motorNumber>
@@ -88,7 +88,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
+        <motorConstant>2.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>3</motorNumber>
@@ -107,12 +107,12 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
         <enableSubTopic>velocity_controller/enable</enableSubTopic>
         <comLinkName>base_link</comLinkName>
-        <velocityGain>8 8 10</velocityGain>
-        <attitudeGain>6 6 6</attitudeGain>
-        <angularRateGain>2.5 2.5 4.0</angularRateGain>
-        <maximumLinearAcceleration>5 5 3</maximumLinearAcceleration>
-        <maximumLinearVelocity>4 4 4</maximumLinearVelocity>
-        <maximumAngularVelocity>3 3 6</maximumAngularVelocity>
+        <velocityGain>10 10 10</velocityGain>
+        <attitudeGain>5 5 5</attitudeGain>
+        <angularRateGain>2.0 2.0 3.0</angularRateGain>
+        <maximumLinearAcceleration>10 10 10</maximumLinearAcceleration>
+        <maximumLinearVelocity>8 8 8</maximumLinearVelocity>
+        <maximumAngularVelocity>20 20 10</maximumAngularVelocity>
         <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
         <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
         <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
@@ -126,25 +126,25 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <rotorConfiguration>
             <rotor>
               <jointName>rotor_0_joint</jointName>
-              <forceConstant>1.269e-05</forceConstant>
+              <forceConstant>2.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_1_joint</jointName>
-              <forceConstant>1.269e-05</forceConstant>
+              <forceConstant>2.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_2_joint</jointName>
-              <forceConstant>1.269e-05</forceConstant>
+              <forceConstant>2.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>-1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_3_joint</jointName>
-              <forceConstant>1.269e-05</forceConstant>
+              <forceConstant>2.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>-1</direction>
             </rotor>
diff --git a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
index a8ea7cd4..0b9689c4 100644
--- a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
+++ b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
@@ -2,5 +2,3 @@ std_msgs/Header header
 
 geometry_msgs/Point acceleration
 geometry_msgs/Point jerk
-
-float64 heading_rate
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
index 17997a84..717af552 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
@@ -31,14 +31,27 @@ BacaSE3Controller::BacaSE3Controller(const BacaSE3ControllerParameters &controll
 
 /* CalculateRotorVelocities() //{ */
 
-Eigen::VectorXd BacaSE3Controller::CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command) const {
+Eigen::VectorXd BacaSE3Controller::CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
+                                                            const BacaSE3ControllerFeedforward &feedforward_command) const {
 
-  Eigen::Vector3d des_acceleration = this->ComputeDesiredAcceleration(simulator_model_data, control_command);
+  // | ----- transform the stuff from the body to the world ----- |
 
-  Eigen::Vector3d des_angular_acceleration = this->SO3Controller(simulator_model_data, control_command, des_acceleration);
+  // rotation from the body to the world
+  Eigen::Matrix3d R = simulator_model_data.pose.linear();
 
-  // Project thrust onto body z axis.
-  double thrust = -_vehicle_parameters_.mass * des_acceleration.dot(simulator_model_data.pose.linear().col(2));
+  Eigen::Vector3d vel_ref  = R * control_command.linear;
+  Eigen::Vector3d acc_ref  = R * feedforward_command.acceleration;
+  Eigen::Vector3d jerk_ref = R * feedforward_command.jerk;
+
+  // desired acceleration: proportional control of velocity + acceleration feedforward
+  Eigen::Vector3d des_acceleration = ComputeDesiredAcceleration(simulator_model_data, vel_ref, acc_ref);
+
+  const double des_yaw_rate = control_command.angular[2];
+
+  Eigen::Vector3d des_angular_acceleration = SO3Controller(simulator_model_data, des_acceleration, jerk_ref, des_yaw_rate);
+
+  // project thrust onto body z axis.
+  double thrust = _vehicle_parameters_.mass * des_acceleration.dot(simulator_model_data.pose.linear().col(2));
 
   Eigen::Vector4d angularAccelerationThrust;
 
@@ -69,10 +82,10 @@ bool BacaSE3Controller::InitializeParameters() {
   }
 
   // make inertia-independent attitude gain
-  normalized_attitude_gain_ = _controller_parameters_.attitudeGain.transpose() * _vehicle_parameters_.inertia.inverse();
+  normalized_attitude_gain_ = _controller_parameters_.attitude_gain.transpose() * _vehicle_parameters_.inertia.inverse();
 
   // make inertia-independent attitude rate gain
-  normalized_angular_rate_gain_ = _controller_parameters_.angularRateGain.transpose() * _vehicle_parameters_.inertia.inverse();
+  normalized_angular_rate_gain_ = _controller_parameters_.angular_rate_gain.transpose() * _vehicle_parameters_.inertia.inverse();
 
   {  // TODO check what this really does and where it comes from
 
@@ -97,86 +110,88 @@ bool BacaSE3Controller::InitializeParameters() {
 
 /* ComputeDesiredAcceleration() //{ */
 
-Eigen::Vector3d BacaSE3Controller::ComputeDesiredAcceleration(const FrameData &simulator_model_data, const EigenTwist &control_command) const {
+Eigen::Vector3d BacaSE3Controller::ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref,
+                                                              const Eigen::Vector3d &acc_ref) const {
+
+  // the velocity error
+  Eigen::Vector3d velocity_error = vel_ref - simulator_model_data.linearVelocityWorld;
 
-  Eigen::Vector3d velocityError = simulator_model_data.linearVelocityWorld - simulator_model_data.pose.linear() * control_command.linear;
+  // feedback on velocity through acceleration
+  Eigen::Vector3d feedback_a = velocity_error.cwiseProduct(_controller_parameters_.velocity_gain) / _vehicle_parameters_.mass;
 
-  Eigen::Vector3d accelCommand = velocityError.cwiseProduct(_controller_parameters_.velocityGain) / _vehicle_parameters_.mass;
+  // sum up the individual components: feedback + feedforward
+  Eigen::Vector3d des_accel = feedback_a + acc_ref;
 
-  accelCommand = accelCommand.cwiseAbs().cwiseMin(_controller_parameters_.maxLinearAcceleration).cwiseProduct(accelCommand.cwiseSign());
+  // --------------------------------------------------------------
+  // |       limit the acceleration the the allowed maximum       |
+  // --------------------------------------------------------------
+  des_accel = des_accel.cwiseAbs().cwiseMin(_controller_parameters_.max_linear_acceleration).cwiseProduct(des_accel.cwiseSign());
 
-  return accelCommand + _vehicle_parameters_.gravity;
+  std::cout << "des_accel " << std::endl << des_accel[0] << " ff " << acc_ref[0] << std::endl;
+
+  // + gravity compensation
+  return des_accel - _vehicle_parameters_.gravity;
 }
 
 //}
 
 /* SO3Controller() //{ */
 
-Eigen::Vector3d BacaSE3Controller::SO3Controller(const FrameData &simulator_model_data, const EigenTwist &control_command,
-                                                 const Eigen::Vector3d &_acceleration) const {
+Eigen::Vector3d BacaSE3Controller::SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration,
+                                                 const Eigen::Vector3d &des_jerk, const double &des_yaw_rate) const {
 
-  const Eigen::Matrix3d &rot = simulator_model_data.pose.linear();
+  // current orientation
+  const Eigen::Matrix3d &R = simulator_model_data.pose.linear();
 
-  // Get the desired rotation matrix.
-  Eigen::Vector3d b1Des = rot.col(0);
+  // desired force acting on the UAV
+  Eigen::Vector3d des_f      = des_acceleration * _vehicle_parameters_.mass;
+  Eigen::Vector3d des_f_norm = des_f.normalized();
 
-  Eigen::Vector3d b3Des;
-  b3Des = -_acceleration / _acceleration.norm();
+  // | ------- constructing the desired orientation matrix ------ |
 
-  // Check if b1 and b3 are parallel. If so, choose a different b1 vector. This
-  // could happen if the UAV is rotated by 90 degrees w.r.t the horizontal
-  // plane.
-  const double tol = 1e-3;
-  if (b1Des.cross(b3Des).squaredNorm() < tol) {
-    // acceleration and b1 are parallel. Choose a different vector
-    b1Des = rot.col(1);
+  // desired orientation
+  Eigen::Matrix3d Rd;
 
-    if (b1Des.cross(b3Des).squaredNorm() < tol) {
-      b1Des = rot.col(2);
-    }
-  }
+  // b3 will will be equal to the desired force vector
+  Eigen::Vector3d b3_des = des_f_norm;
 
-  Eigen::Vector3d b2Des;
-  b2Des = b3Des.cross(b1Des);
-  b2Des.normalize();
+  // since we don't control for desired yaw/heading, we care about maintaning the current one
+  // this can be, e.g., approximately achieved by requiring the b1 vector to stay as it is
+  Eigen::Vector3d b1_des = R.col(0);
 
-  Eigen::Matrix3d rotDes;
-  rotDes.col(0) = b2Des.cross(b3Des);
-  rotDes.col(1) = b2Des;
-  rotDes.col(2) = b3Des;
+  Rd.col(2) = b3_des;
+  Rd.col(1) = Rd.col(2).cross(b1_des);
+  Rd.col(1).normalize();
+  Rd.col(0) = Rd.col(1).cross(b3_des);
+  Rd.col(0).normalize();
 
-  // Angle error according to lee et al.
-  Eigen::Matrix3d angleErrorMatrix = 0.5 * (rotDes.transpose() * rot - rot.transpose() * rotDes);
-  Eigen::Vector3d angleError       = vectorFromSkewMatrix(angleErrorMatrix);
+  // orientation error
+  Eigen::Matrix3d R_e = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
 
-  // | ------------------ angular rate control ------------------ |
+  // orientation error vector
+  Eigen::Vector3d R_e_vec = vectorFromSkewMatrix(R_e);
 
-  Eigen::Vector3d des_angular_rate(Eigen::Vector3d::Zero());
+  std::cout << "R_e_vec " << std::endl << R_e_vec << std::endl;
 
-  des_angular_rate[2] = control_command.angular[2];  // set the 'yaw rate' from the control command
+  // | -------------------- jerk feedforward -------------------- |
 
-  // The paper shows
-  // e_omega = omega - R.T * R_d * omega_des
-  // The code in the RotorS implementation has
-  // e_omega = omega - R_d.T * R * omega_des
-  Eigen::Vector3d angularRateError = simulator_model_data.angularVelocityBody - rot.transpose() * rotDes * des_angular_rate;
+  Eigen::Vector3d q_feedforward = Eigen::Vector3d(0, 0, 0);
 
-  // The following MOI terms are computed in the paper, but the RotorS
-  // implementation ignores them. They don't appear to make much of a
-  // difference.
-  // Eigen::Matrix3d moi = _vehicle_parameters_.inertia;
-  // const Eigen::Vector3d &omega = simulator_model_data.angularVelocityBody;
+  Eigen::Matrix3d I;
+  I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+  Eigen::Vector3d desired_jerk = Eigen::Vector3d(des_jerk[0], des_jerk[1], des_jerk[2]);
+  q_feedforward                = (I.transpose() * Rd.transpose() * desired_jerk) / (des_acceleration.dot(R.col(2)));
+
+  // | ------------------ angular rate control ------------------ |
 
-  // Eigen::Vector3d moiTerm = omega.cross(moi * omega);
+  // des angular rate from the control command
+  Eigen::Vector3d des_angular_rate;
+  des_angular_rate = Eigen::Vector3d(0, 0, des_yaw_rate) + q_feedforward;
 
-  // Eigen::Vector3d moiTerm2 = moi * (skewMatrixFromVector(omega) *
-  //                            rot.transpose() * rotDes * des_angular_rate);
+  // angular rate error
+  Eigen::Vector3d w_e = simulator_model_data.angularVelocityBody - R.transpose() * Rd * des_angular_rate;
 
-  // std::cout << moiTerm2.transpose() << std::endl;
-  // return -1 * angleError.cwiseProduct(normalized_attitude_gain_) -
-  //         angularRateError.cwiseProduct(normalized_angular_rate_gain_) +
-  //         moiTerm - moiTerm2;
-  return -1 * angleError.cwiseProduct(normalized_attitude_gain_) - angularRateError.cwiseProduct(normalized_angular_rate_gain_);
+  return -1 * R_e_vec.cwiseProduct(normalized_attitude_gain_) - w_e.cwiseProduct(normalized_angular_rate_gain_);
 }
 
 //}
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
index 5971d8d9..73e56e5f 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
@@ -19,10 +19,16 @@ namespace multicopter_control
 
 struct BacaSE3ControllerParameters
 {
-  Eigen::Vector3d velocityGain;
-  Eigen::Vector3d attitudeGain;
-  Eigen::Vector3d angularRateGain;
-  Eigen::Vector3d maxLinearAcceleration;
+  Eigen::Vector3d velocity_gain;
+  Eigen::Vector3d attitude_gain;
+  Eigen::Vector3d angular_rate_gain;
+  Eigen::Vector3d max_linear_acceleration;
+};
+
+struct BacaSE3ControllerFeedforward
+{
+  Eigen::Vector3d acceleration;
+  Eigen::Vector3d jerk;
 };
 
 class BacaSE3Controller {
@@ -31,7 +37,8 @@ public:
   BacaSE3Controller(const BacaSE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters);
 
   // the main function that returns the result
-  Eigen::VectorXd CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command) const;
+  Eigen::VectorXd CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
+                                           const BacaSE3ControllerFeedforward &feedforward_command) const;
 
 private:
   // | ----------------------- parameters ----------------------- |
@@ -48,8 +55,9 @@ private:
 
   // | -------------------- internal methods -------------------- |
 
-  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &simulator_model_data, const EigenTwist &control_command) const;
-  Eigen::Vector3d SO3Controller(const FrameData &simulator_model_data, const EigenTwist &control_command, const Eigen::Vector3d &_acceleration) const;
+  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref, const Eigen::Vector3d &acc_ref) const;
+  Eigen::Vector3d SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration, const Eigen::Vector3d &des_jerk,
+                                const double &des_yaw_rate) const;
 };
 
 }  // namespace multicopter_control
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
index 8cfbec54..296d0909 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
@@ -136,42 +136,42 @@ void MRSMultirotorController::Configure(const Entity &entity, const std::shared_
   BacaSE3ControllerParameters controller_parameters;
 
   if (sdf_clone->HasElement("velocityGain")) {
-    controller_parameters.velocityGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("velocityGain"));
+    controller_parameters.velocity_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("velocityGain"));
   } else {
     ignerr << "Please specify velocityGain for MRSMultirotorController.\n";
     return;
   }
 
   if (sdf_clone->HasElement("attitudeGain")) {
-    controller_parameters.attitudeGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("attitudeGain"));
+    controller_parameters.attitude_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("attitudeGain"));
   } else {
     ignerr << "Please specify attitudeGain for MRSMultirotorController.\n";
     return;
   }
 
   if (sdf_clone->HasElement("angularRateGain")) {
-    controller_parameters.angularRateGain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("angularRateGain"));
+    controller_parameters.angular_rate_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("angularRateGain"));
   } else {
     ignerr << "Please specify angularRateGain MRSMultirotorController.\n";
     return;
   }
 
   if (sdf_clone->HasElement("maximumLinearAcceleration")) {
-    controller_parameters.maxLinearAcceleration = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("maximumLinearAcceleration"));
+    controller_parameters.max_linear_acceleration = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("maximumLinearAcceleration"));
   } else {
-    controller_parameters.maxLinearAcceleration.setConstant(std::numeric_limits<double>::max());
+    controller_parameters.max_linear_acceleration.setConstant(std::numeric_limits<double>::max());
   }
 
   if (sdf_clone->HasElement("_maximum_linear_velocity_")) {
-    this->_maximum_linear_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_linear_velocity_").Abs();
+    _maximum_linear_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_linear_velocity_").Abs();
   } else {
-    this->_maximum_linear_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+    _maximum_linear_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
   }
 
   if (sdf_clone->HasElement("_maximum_angular_velocity_")) {
-    this->_maximum_angular_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_angular_velocity_").Abs();
+    _maximum_angular_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_angular_velocity_").Abs();
   } else {
-    this->_maximum_angular_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+    _maximum_angular_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
   }
 
   multirotor_controller_ptr_ = std::make_unique<multicopter_control::BacaSE3Controller>(controller_parameters, vehicleParams);
@@ -244,8 +244,8 @@ void MRSMultirotorController::Configure(const Entity &entity, const std::shared_
 
   std::string robot_name = _gazebo_model_.Name(ecm);
 
-  subscriber_control_reference_ =
-      ros_nh.subscribe(robot_name + "/control_reference", 1, &MRSMultirotorController::callbackControlReference, this, ros::TransportHints().tcpNoDelay());
+  subscriber_feedforward_ =
+      ros_nh.subscribe(robot_name + "/feedforward", 1, &MRSMultirotorController::callbackFeedForward, this, ros::TransportHints().tcpNoDelay());
 
   // | ---------------- finish the initialization --------------- |
 
@@ -278,6 +278,17 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     cmd_vel = cmd_vel_.value();
   }
 
+  marble_qav500_sensor_config_1::ControlReference feedforward;
+
+  {
+    std::scoped_lock lock(mutex_feedforward_);
+
+    if (feedforward_.has_value()) {
+      feedforward = feedforward_.value();
+      ROS_INFO_THROTTLE(5.0, "[%s]: using the feedforward for control", ros::this_node::getName().c_str());
+    }
+  }
+
   // | ---------------------- spin the ROS ---------------------- |
   ros::spinOnce();
 
@@ -306,21 +317,36 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     return;
   }
 
+  // | ------------- prepare the velocity reference ------------- |
+
   EigenTwist cmd_vel_eigen;
 
-  {
-    // clip with max linear velocity
-    math::Vector3d linear = msgs::Convert(cmd_vel.linear());
-    linear.Min(_maximum_linear_velocity_);
-    linear.Max(-_maximum_linear_velocity_);
+  // saturate to maximum allowed velocity
+  math::Vector3d linear = msgs::Convert(cmd_vel.linear());
+  linear.Min(_maximum_linear_velocity_);
+  linear.Max(-_maximum_linear_velocity_);
 
-    math::Vector3d angular = msgs::Convert(cmd_vel.angular());
-    angular.Min(_maximum_angular_velocity_);
-    angular.Max(-_maximum_angular_velocity_);
+  // saturate to maximum allowed angular velocity
+  math::Vector3d angular = msgs::Convert(cmd_vel.angular());
+  angular.Min(_maximum_angular_velocity_);
+  angular.Max(-_maximum_angular_velocity_);
 
-    cmd_vel_eigen.linear  = math::eigen3::convert(linear);
-    cmd_vel_eigen.angular = math::eigen3::convert(angular);
-  }
+  cmd_vel_eigen.linear  = math::eigen3::convert(linear);
+  cmd_vel_eigen.angular = math::eigen3::convert(angular);
+
+  // | ------------ prepare the feedforward reference ----------- |
+
+  BacaSE3ControllerFeedforward cmd_feedforward;
+
+  cmd_feedforward.acceleration[0] = feedforward.acceleration.x;
+  cmd_feedforward.acceleration[1] = feedforward.acceleration.y;
+  cmd_feedforward.acceleration[2] = feedforward.acceleration.z;
+
+  cmd_feedforward.jerk[0] = feedforward.jerk.x;
+  cmd_feedforward.jerk[1] = feedforward.jerk.y;
+  cmd_feedforward.jerk[2] = feedforward.jerk.z;
+
+  // | ------------ get the UAV model simulator data ------------ |
 
   std::optional<FrameData> frameData = getFrameData(ecm, _gazebo_model_entity_, _noise_parameters_);
 
@@ -328,9 +354,12 @@ void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_inf
     return;
   }
 
-  rotor_velocities_ = multirotor_controller_ptr_->CalculateRotorVelocities(frameData.value(), cmd_vel_eigen);
+  // | -------------- calculate the control action -------------- |
 
-  this->PublishRotorVelocities(ecm, rotor_velocities_);
+  rotor_velocities_ = multirotor_controller_ptr_->CalculateRotorVelocities(frameData.value(), cmd_vel_eigen, cmd_feedforward);
+
+  // publish the control action
+  PublishRotorVelocities(ecm, rotor_velocities_);
 }
 
 //}
@@ -341,6 +370,7 @@ void MRSMultirotorController::OnTwist(const msgs::Twist &msg) {
 
   {
     std::scoped_lock lock(mutex_cmd_vel_);
+
     cmd_vel_ = msg;
   }
 
@@ -368,7 +398,7 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
   }
 
   // fill in the velocities
-  for (int i = 0; i < rotor_velocities_.size(); ++i) {
+  for (int i = 0; i < vels.size(); ++i) {
     rotor_velocities_msg_.set_velocity(i, vels(i));
   }
 
@@ -395,19 +425,21 @@ void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityCom
 
 // | ------------------- custom MRS routines ------------------ |
 
-/* callbackControlReference() //{ */
+/* callbackFeedForward() //{ */
 
-void MRSMultirotorController::callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg) {
+void MRSMultirotorController::callbackFeedForward(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
   }
 
-  got_control_reference_ = true;
+  {
+    std::scoped_lock lock(mutex_feedforward_);
 
-  control_reference_ = *msg;
+    feedforward_ = *msg;
+  }
 
-  ROS_INFO_THROTTLE(5.0, "[%s]: getting the control reference", ros::this_node::getName().c_str());
+  ROS_INFO_THROTTLE(5.0, "[%s]: getting feedforward reference", ros::this_node::getName().c_str());
 }
 
 //}
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
index 189ed1c8..f7d3faf2 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
+++ b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
@@ -42,7 +42,6 @@ public:
   void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) override;
 
 private:
-
   bool is_initialized_ = false;
 
   // | ----------------------- parameters ----------------------- |
@@ -90,11 +89,11 @@ private:
   // |            subscriber for feedforward reference            |
   // --------------------------------------------------------------
 
-  void callbackControlReference(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
+  void callbackFeedForward(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
 
-  ros::Subscriber                                 subscriber_control_reference_;
-  bool                                            got_control_reference_ = false;
-  marble_qav500_sensor_config_1::ControlReference control_reference_;
+  ros::Subscriber                                                subscriber_feedforward_;
+  std::optional<marble_qav500_sensor_config_1::ControlReference> feedforward_;
+  std::mutex                                                     mutex_feedforward_;
 };
 
 }  // namespace systems

From 75231a8814820ef0190d32971f6ad7040a6f395b Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Thu, 4 Mar 2021 10:59:03 +0100
Subject: [PATCH 07/22] removed couts

---
 .../marble_qav500_sensor_config_1/src/BacaSE3Controller.cc    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
index 717af552..2f08500e 100644
--- a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
+++ b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
@@ -127,7 +127,7 @@ Eigen::Vector3d BacaSE3Controller::ComputeDesiredAcceleration(const FrameData &s
   // --------------------------------------------------------------
   des_accel = des_accel.cwiseAbs().cwiseMin(_controller_parameters_.max_linear_acceleration).cwiseProduct(des_accel.cwiseSign());
 
-  std::cout << "des_accel " << std::endl << des_accel[0] << " ff " << acc_ref[0] << std::endl;
+  /* std::cout << "des_accel " << std::endl << des_accel[0] << " ff " << acc_ref[0] << std::endl; */
 
   // + gravity compensation
   return des_accel - _vehicle_parameters_.gravity;
@@ -171,7 +171,7 @@ Eigen::Vector3d BacaSE3Controller::SO3Controller(const FrameData &simulator_mode
   // orientation error vector
   Eigen::Vector3d R_e_vec = vectorFromSkewMatrix(R_e);
 
-  std::cout << "R_e_vec " << std::endl << R_e_vec << std::endl;
+  /* std::cout << "R_e_vec " << std::endl << R_e_vec << std::endl; */
 
   // | -------------------- jerk feedforward -------------------- |
 

From 46edc4efd6f0a8e46b54ce8c6c3ab37a2f1bf836 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Mon, 8 Mar 2021 18:54:49 +0100
Subject: [PATCH 08/22] Model submission for x500 sensor configuration 1 from
 CTU-CRAS-NORLAB.

---
 .../.fig/with_ff.gif                          |   Bin 0 -> 3360392 bytes
 .../.fig/without_ff.gif                       |   Bin 0 -> 3456272 bytes
 .../CMakeLists.txt                            |    55 +
 .../README.md                                 |    58 +
 .../include/Common.h                          |    69 +
 .../include/Parameters.h                      |    51 +
 .../include/SE3Controller.h                   |    70 +
 .../launch/description.launch                 |     6 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |   184 +
 .../launch/vehicle_topics.launch              |   241 +
 .../materials/textures/RealSense_Albedo.jpg   |   Bin 0 -> 217285 bytes
 .../materials/textures/ctu_logo.jpg           |   Bin 0 -> 284439 bytes
 .../materials/textures/mrs_logo.png           |   Bin 0 -> 249435 bytes
 .../meshes/holders/holder_rs_down_bfox.dae    |   106 +
 .../meshes/holders/holder_rs_up.dae           |   106 +
 .../meshes/holders/side_ctu.dae               |   184 +
 .../meshes/holders/side_mrs.dae               |   180 +
 .../meshes/holybro/holybro_x500_arm.dae       | 34168 ++++++++
 .../meshes/holybro/holybro_x500_battery.dae   | 14367 ++++
 .../holybro/holybro_x500_bottom_board.dae     | 71339 ++++++++++++++++
 .../meshes/holybro/holybro_x500_leg.dae       |  6059 ++
 .../meshes/holybro/holybro_x500_motor.dae     | 14419 ++++
 .../meshes/holybro/holybro_x500_pc_mount.dae  | 37430 ++++++++
 .../meshes/holybro/holybro_x500_prop.dae      |  3628 +
 .../meshes/sensors/bluefox.dae                |    61 +
 .../meshes/sensors/os1_64.dae                 |   198 +
 .../meshes/sensors/pixhawk.dae                |   199 +
 .../meshes/sensors/realsense.dae              |  1750 +
 .../model.config                              |    22 +
 .../model.sdf                                 |   911 +
 .../package.xml                               |    30 +
 .../specifications.md                         |    77 +
 .../src/Common.cpp                            |   248 +
 .../src/MRSMultirotorController.cpp           |   573 +
 .../src/SE3Controller.cpp                     |   201 +
 .../urdf/model.xacro                          |   404 +
 .../worlds/example.sdf                        |   183 +
 38 files changed, 187747 insertions(+)
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/.fig/with_ff.gif
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/.fig/without_ff.gif
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/README.md
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Common.h
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Parameters.h
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/SE3Controller.h
 create mode 100755 submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/description.launch
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
 create mode 100755 submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
 create mode 100755 submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/materials/textures/RealSense_Albedo.jpg
 create mode 100755 submitted_models/ctu_cras_norlab_x500_sensor_config_1/materials/textures/ctu_logo.jpg
 create mode 100755 submitted_models/ctu_cras_norlab_x500_sensor_config_1/materials/textures/mrs_logo.png
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_mrs.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/bluefox.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/Common.cpp
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/SE3Controller.cpp
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
 create mode 100644 submitted_models/ctu_cras_norlab_x500_sensor_config_1/worlds/example.sdf

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/.fig/with_ff.gif b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/.fig/with_ff.gif
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..f3a11fd7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.1.2)
+
+project(ctu_cras_norlab_x500_sensor_config_1)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_runtime
+  std_msgs
+  geometry_msgs
+)
+
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(MRSMultirotorController SHARED
+  src/MRSMultirotorController.cpp
+  src/Common.cpp
+  src/SE3Controller.cpp
+)
+
+target_link_libraries(MRSMultirotorController
+  PUBLIC ${catkin_LIBRARIES}
+  PRIVATE ignition-plugin1::ignition-plugin1
+  PRIVATE ignition-gazebo4::ignition-gazebo4
+  PRIVATE ignition-common3::ignition-common3
+  PRIVATE ignition-transport9::ignition-transport9
+  PRIVATE Eigen3::Eigen
+)
+
+install(DIRECTORY launch meshes urdf materials worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(TARGETS MRSMultirotorController
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/README.md b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/README.md
new file mode 100644
index 00000000..87678e0d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/README.md
@@ -0,0 +1,58 @@
+# CTU-CRAS-NORLAB-X500
+This repository contains a virtual model of the X500 aerial platform of the CTU-CRAS-NORLAB team. Please see the [specifications](specifications.md) for more information.
+
+## Description
+X500 is a quadrotor UAV based on the Holybro X500 frame built for the Final Circuit of the DARPA Subterranean Challenge.
+Its sensory equipment consisting of 3D LiDAR, 2 RGBD cameras and 1 RGB camera allows reliable navigation through various environments, its small size facilitates flying through narrow passages.
+A two-battery system consisting of 2 Lipo 6750mAh 4-cell batteries connected in parallel can power the UAV for over 25 minutes of flight time.
+The propulsion system consists of T-MOTOR MN3510 KV700 motors and 13 inch propellers.
+
+## Usage Instructions
+The robot motion is controlled via standard cmd_vel commands.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this configuration.
+
+## MRS multirotor controller
+
+* The code is based on the [multicopter_control](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/multicopter_control) plugin from the [ignitionrobotics/ign-gazebo](https://github.com/ignitionrobotics/ign-gazebo).
+* The controller is based on the original work off [Lee, 2010](https://ieeexplore.ieee.org/iel5/5707200/5716927/05717652.pdf).
+* The controller's interface is compatible with [multicopter_control](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/multicopter_control), therefore, it can be swapped without the need to modify loading of its parameters.
+* This controller was forked due to the lack of specifying a feedforward action, which is vital for precise UAV control [(link)](https://arxiv.org/abs/2008.08050). Controlling the UAV only through the desired velocity limits the available dynamics significantly.
+
+|                              |                            |
+|------------------------------|----------------------------|
+| Control without feed forward | ![](./.fig/without_ff.gif) |
+| Control with feed forward    | ![](./.fig/with_ff.gif)    |
+
+### Input
+
+As the [original controller](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/multicopter_control), the MRS controller accepts the **geometry_msgs/Twist** command.
+The twist command contains desired linear velocities in the body frame of the UAV and the desired yaw rate.
+The control response of this controller should be identical as the response of the original controller.
+
+A new **optional** input is introduced, allowing users to set desired feedforward **acceleration** and **jerk**.
+When provided, the acceleration feedforward component is added to the desired force vector produced by the original velocity feedback.
+The jerk feedforward component is used to generate an appropriate desired attitude rate feedforward action.
+Both components can be provided in the form of ROS **geometry_msgs/Twist** message on the topic
+```
+/mrs_multirotor_controller/<ROBOT NAME>/feedforward
+```
+with the **geometry_msgs/Twist/linear** representing the desired acceleration, and **geometry_msgs/Twist/angular** representing the desired jerk.
+Both component are supposed to be supplied in the body frame of the UAV, similarly to the desired velocity.
+
+### Constraining the UAV dynamics
+
+The original acceleration saturation is applied to the sum of the result of the velocity feedback (as it was originally) and the feedforward acceleration reference.
+The desired jerk feedforward is left unconstrained.
+
+### Parameters
+
+The form and the function of the controller's paramaters was left unchanged from the [original controller](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/multicopter_control).
+
+### Disclaimer
+
+The software is provided "as is" without any guarantees.
+The sofware was not developed nor is it suited for control of real-world robots.
+The software lacks safety features that should be employed in real world to mitigate abnormal situations and special cases during its execution!
+If you are interesting in controlling a real-world multirotor helicopter, please get inspiration, e.g., in the [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers) and [mrs_uav_system](https://github.com/ctu-mrs/mrs_uav_system) packages.
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Common.h b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Common.h
new file mode 100644
index 00000000..f282da5a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Common.h
@@ -0,0 +1,69 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
+
+/* includes() //{ */
+
+#include <Eigen/Geometry>
+#include <vector>
+
+#include <sdf/sdf.hh>
+
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+#include <ignition/gazebo/Model.hh>
+
+#include <Parameters.h>
+
+//}
+
+namespace ignition
+{
+
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+struct EigenTwist
+{
+  Eigen::Vector3d linear;
+  Eigen::Vector3d angular;
+};
+
+struct FrameData
+{
+  Eigen::Isometry3d pose;
+  Eigen::Vector3d   linearVelocityWorld;
+  Eigen::Vector3d   angularVelocityBody;
+};
+
+RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink);
+
+std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration);
+
+void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link);
+
+std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise);
+
+inline Eigen::Matrix3d skewMatrixFromVector(const Eigen::Vector3d &_vector) {
+  Eigen::Matrix3d skewMatrix;
+  skewMatrix << 0, -_vector.z(), _vector.y(), _vector.z(), 0, -_vector.x(), -_vector.y(), _vector.x(), 0;
+  return skewMatrix;
+}
+
+inline Eigen::Vector3d vectorFromSkewMatrix(const Eigen::Matrix3d &_skewMatrix) {
+  return Eigen::Vector3d(_skewMatrix(2, 1), _skewMatrix(0, 2), _skewMatrix(1, 0));
+}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Parameters.h b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Parameters.h
new file mode 100644
index 00000000..af6b8005
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/Parameters.h
@@ -0,0 +1,51 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
+
+#include <Eigen/Geometry>
+#include <vector>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+struct Rotor
+{
+  double angle;
+  double armLength;
+  double forceConstant;
+  double momentConstant;
+  int    direction;
+};
+
+using RotorConfiguration = std::vector<Rotor>;
+
+struct VehicleParameters
+{
+  double             mass;
+  Eigen::Matrix3d    inertia;
+  Eigen::Vector3d    gravity;
+  RotorConfiguration rotorConfiguration;
+};
+
+struct NoiseParameters
+{
+  Eigen::Vector3d linearVelocityMean;
+  Eigen::Vector3d linearVelocityStdDev;
+  Eigen::Vector3d angularVelocityMean;
+  Eigen::Vector3d angularVelocityStdDev;
+};
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/SE3Controller.h b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/SE3Controller.h
new file mode 100644
index 00000000..7d4de89b
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/include/SE3Controller.h
@@ -0,0 +1,70 @@
+#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_SE3CONTROLLER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_SE3CONTROLLER_HH_
+
+#include <Eigen/Geometry>
+#include <Common.h>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+struct SE3ControllerParameters
+{
+  Eigen::Vector3d velocity_gain;
+  Eigen::Vector3d attitude_gain;
+  Eigen::Vector3d angular_rate_gain;
+  Eigen::Vector3d max_linear_acceleration;
+};
+
+struct SE3ControllerFeedforward
+{
+  Eigen::Vector3d acceleration;
+  Eigen::Vector3d jerk;
+};
+
+class SE3Controller {
+
+public:
+  SE3Controller(const SE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters);
+
+  // the main function that returns the result
+  Eigen::VectorXd CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
+                                           const SE3ControllerFeedforward &feedforward_command) const;
+
+private:
+  // | ----------------------- parameters ----------------------- |
+
+  SE3ControllerParameters _controller_parameters_;
+  VehicleParameters       _vehicle_parameters_;
+
+  bool InitializeParameters();
+
+  // parameters computed in during initialization
+  Eigen::Vector3d  normalized_attitude_gain_;
+  Eigen::Vector3d  normalized_angular_rate_gain_;
+  Eigen::MatrixX4d angular_acc_to_rotor_velocities_;
+
+  // | -------------------- internal methods -------------------- |
+
+  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref, const Eigen::Vector3d &acc_ref) const;
+  Eigen::Vector3d SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration, const Eigen::Vector3d &des_jerk,
+                                const double &des_yaw_rate) const;
+};
+
+}  // namespace multicopter_control
+
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/description.launch
new file mode 100755
index 00000000..d85fadfb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find ctu_cras_norlab_x500_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..07d80c2d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>false</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
+
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
new file mode 100755
index 00000000..f449d85a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,184 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+      <name>#{_name}</name>
+      <allow_renaming>false</allow_renaming>
+      <pose>#{_x} #{_y} #{_z + 0.158} #{_roll} #{_pitch} #{_yaw}</pose>
+      <world>#{_worldName}</world>
+      <is_performer>true</is_performer>
+      <sdf version='1.6'>
+      <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+        <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_0_joint</jointName>
+        <linkName>rotor_0</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>822.0</maxRotVelocity>
+        <motorConstant>2.61217e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>0</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_1_joint</jointName>
+        <linkName>rotor_1</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>822.0</maxRotVelocity>
+        <motorConstant>2.61217e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>1</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_2_joint</jointName>
+        <linkName>rotor_2</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>822.0</maxRotVelocity>
+        <motorConstant>2.61217e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>2</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_3_joint</jointName>
+        <linkName>rotor_3</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>822.0</maxRotVelocity>
+        <motorConstant>2.61217e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>3</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <!-- MulticopterVelocityControl plugin -->
+      <plugin
+        filename="libMRSMultirotorController.so"
+        name="ignition::gazebo::systems::MRSMultirotorController">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <commandSubTopic>cmd_vel</commandSubTopic>
+        <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
+        <enableSubTopic>velocity_controller/enable</enableSubTopic>
+        <comLinkName>base_link</comLinkName>
+        <velocityGain>10 10 10</velocityGain>
+        <attitudeGain>5 5 5</attitudeGain>
+        <angularRateGain>2.0 2.0 3.0</angularRateGain>
+        <maximumLinearAcceleration>7.49 8.13 7.29</maximumLinearAcceleration>
+        <maximumLinearVelocity>8.6 8.6 4.47</maximumLinearVelocity>
+        <maximumAngularVelocity>20 20 2.44</maximumAngularVelocity>
+        <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
+        <linearVelocityNoiseStdDev>0.1105 0.1261 0.00947</linearVelocityNoiseStdDev>
+        <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
+        <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
+
+          <rotorConfiguration>
+            <rotor>
+              <jointName>rotor_0_joint</jointName>
+              <forceConstant>2.61217e-05</forceConstant>
+              <momentConstant>1.6754e-2</momentConstant>
+              <direction>1</direction>
+            </rotor>
+            <rotor>
+              <jointName>rotor_1_joint</jointName>
+              <forceConstant>2.61217e-05</forceConstant>
+              <momentConstant>1.6754e-2</momentConstant>
+              <direction>1</direction>
+            </rotor>
+            <rotor>
+              <jointName>rotor_2_joint</jointName>
+              <forceConstant>2.61217e-05</forceConstant>
+              <momentConstant>1.6754e-2</momentConstant>
+              <direction>-1</direction>
+            </rotor>
+            <rotor>
+              <jointName>rotor_3_joint</jointName>
+              <forceConstant>2.61217e-05</forceConstant>
+              <momentConstant>1.6754e-2</momentConstant>
+              <direction>-1</direction>
+            </rotor>
+          </rotorConfiguration>
+      </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>18.0</initial_charge>
+        <capacity>18.0</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>5.28</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+    <executable name='robot_description'>
+      <command>roslaunch --wait ctu_cras_norlab_x500_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='topics'>
+      <command>roslaunch --wait ctu_cras_norlab_x500_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
new file mode 100755
index 00000000..d791ce33
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,241 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+    <!-- Gas sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel" to="cmd_vel"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_velocity_control_enable"
+      args="/model/$(arg name)/velocity_controller/enable@std_msgs/Bool]ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/velocity_controller/enable" to="velocity_controller/enable"/>
+    </node>
+
+    <!-- Battery sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <!--UP RGBD camera -->
+    <group ns="up_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_up/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_up/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_up/image">
+        <remap from="$(arg sensor_prefix)/rs_up/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_up/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_up/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_up/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_up/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_up/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_up/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_up">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+    </group>
+
+    <!--DOWN RGBD camera -->
+    <group ns="down_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_down/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_down/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_down/image">
+        <remap from="$(arg sensor_prefix)/rs_down/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_down/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_down/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_down/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_down/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_down/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_down/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_down">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_down">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+    </group>
+
+    <!--Front RGB camera -->
+    <group>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="front/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgb_image_front">
+      <remap from="input/image" to="front/image_raw" />
+      <remap from="output/image" to="front/optical/image_raw" />
+      <remap from="input/camera_info" to="front/camera_info" />
+      <remap from="output/camera_info" to="front/optical/camera_info" />
+      </node>
+    </group>
+
+    <!-- 3D lidar -->
+    <group>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_lidar3d"
+        args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
+      </node>
+    </group>
+
+    <!-- UAV -->
+    <group>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_magnetometer"
+        args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+        <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_fluid_pressure"
+        args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+        <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+      </node>
+    </group>
+
+  </group>
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/materials/textures/RealSense_Albedo.jpg b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/materials/textures/RealSense_Albedo.jpg
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae
new file mode 100644
index 00000000..dd0d9b07
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae
@@ -0,0 +1,106 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor />
+    <created>2021-03-08T10:30:36.592836</created>
+    <modified>2021-03-08T10:30:36.592836</modified>
+    <unit meter="1.0" name="meter" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_Part__Feature" name="effect_Part__Feature">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.09803921729326248 0.09803921729326248 0.09803921729326248 1.0</color>
+            </diffuse>
+            <specular>
+              <color>1 1 1 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="geometry0" name="Part__Feature">
+      <mesh>
+        <source id="cubeverts-array0">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="mat_Part__Feature" name="Part__Feature">
+      <instance_effect url="#effect_Part__Feature" />
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node id="node0" name="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ref_Part__Feature" target="#mat_Part__Feature" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae
new file mode 100644
index 00000000..293539a4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae
@@ -0,0 +1,106 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor />
+    <created>2021-03-08T14:32:23.854324</created>
+    <modified>2021-03-08T14:32:23.854324</modified>
+    <unit meter="1.0" name="meter" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_Part__Feature" name="effect_Part__Feature">
+      <profile_COMMON>
+        <technique sid="common">
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+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
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+            <specular>
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+            </specular>
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+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae
new file mode 100644
index 00000000..1c90c6ad
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae
@@ -0,0 +1,184 @@
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+        <vertices id="Body4-VERTEX">
+          <input semantic="POSITION" source="#Body4-POSITION"/>
+        </vertices>
+        <triangles count="4664" material="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040BlackFBXASC041">
+          <input semantic="VERTEX" offset="0" source="#Body4-VERTEX"/>
+          <input semantic="NORMAL" offset="1" source="#Body4-Normal0"/>
+          <input semantic="TEXCOORD" offset="2" set="0" source="#Body4-UV0"/>
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+        </triangles>
+        <triangles count="3112" material="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain">
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+          <input semantic="TEXCOORD" offset="2" set="0" source="#Body4-UV0"/>
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae
new file mode 100644
index 00000000..1e909bda
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae
@@ -0,0 +1,14367 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="holybro_x500_battery" name="holybro_x500_battery">
+      <node name="Body1" id="Body1" sid="Body1">
+        <matrix sid="matrix">0.010000 -0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 -0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_geometry url="#Body1-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040BlackFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040BlackFBXASC041"/>
+              <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#holybro_x500_battery"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae
new file mode 100644
index 00000000..93831cce
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae
@@ -0,0 +1,71339 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author/>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments/>
+    </contributor>
+    <created>2020-12-23T14:02:25Z</created>
+    <keywords/>
+    <modified>2020-12-23T14:02:25Z</modified>
+    <revision/>
+    <subject/>
+    <title/>
+    <unit meter="1.000000" name="centimeter"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_materials>
+    <material id="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain" name="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain">
+      <instance_effect url="#CarbonFBXASC032FiberFBXASC032-FBXASC032Plain-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain-fx" name="CarbonFBXASC032FiberFBXASC032-FBXASC032Plain">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.098039  0.098039 0.098039 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.098039  0.098039 0.098039 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.172877  0.172877 0.172877 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">19.999998</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="Body1-lib" name="Body1Mesh">
+      <mesh>
+        <source id="Body1-POSITION">
+          <float_array id="Body1-POSITION-array" count="24057">
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+    </geometry>
+  </library_geometries>
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae
new file mode 100644
index 00000000..3a3e0a1d
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae
@@ -0,0 +1,6059 @@
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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae
new file mode 100644
index 00000000..58af0044
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae
@@ -0,0 +1,14419 @@
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+  </library_geometries>
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+          </technique>
+        </extra>
+      </node>
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+        </technique>
+      </extra>
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+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#holybro_x500_motor"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae
new file mode 100644
index 00000000..22672cca
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae
@@ -0,0 +1,37430 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author/>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments/>
+    </contributor>
+    <created>2020-12-23T14:03:25Z</created>
+    <keywords/>
+    <modified>2020-12-23T14:03:25Z</modified>
+    <revision/>
+    <subject/>
+    <title/>
+    <unit meter="1.000000" name="centimeter"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_materials>
+    <material id="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" name="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041">
+      <instance_effect url="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041-fx"/>
+    </material>
+    <material id="LeadFBXASC032-FBXASC032Satin" name="LeadFBXASC032-FBXASC032Satin">
+      <instance_effect url="#LeadFBXASC032-FBXASC032Satin-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041-fx" name="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041">
+      <profile_COMMON>
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+            </emission>
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+            </diffuse>
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+            </specular>
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+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+            </ambient>
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+            </diffuse>
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+            </specular>
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+            </shininess>
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+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="holybro_x500_nuc_holder" name="holybro_x500_nuc_holder">
+      <node name="Body1" id="Body1" sid="Body1">
+        <matrix sid="matrix">0.010000 -0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 -0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_geometry url="#Body1-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041" target="#PlasticFBXASC032-FBXASC032MatteFBXASC032FBXASC040GreenFBXASC041"/>
+              <instance_material symbol="LeadFBXASC032-FBXASC032Satin" target="#LeadFBXASC032-FBXASC032Satin"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#holybro_x500_nuc_holder"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae
new file mode 100644
index 00000000..42ebcf12
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae
@@ -0,0 +1,3628 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author/>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments/>
+    </contributor>
+    <created>2020-12-23T14:09:13Z</created>
+    <keywords/>
+    <modified>2020-12-23T14:09:13Z</modified>
+    <revision/>
+    <subject/>
+    <title/>
+    <unit meter="1.000000" name="centimeter"/>
+    <up_axis>Z_UP</up_axis>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="holybro_x500_prop" name="holybro_x500_prop">
+      <node name="Body1" id="Body1" sid="Body1">
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+        <instance_geometry url="#Body1-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="OpaqueFBXASC04025FBXASC04425FBXASC04425FBXASC041" target="#OpaqueFBXASC04025FBXASC04425FBXASC04425FBXASC041"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#holybro_x500_prop"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/bluefox.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/bluefox.dae
new file mode 100644
index 00000000..a67c2de8
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/bluefox.dae
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.72.0 commit date:2014-10-03, commit time:13:58, hash:95182d1</authoring_tool>
+    </contributor>
+    <created>2016-11-04T10:42:05</created>
+    <modified>2016-11-04T10:42:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
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+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="144" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
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+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="272" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <polylist count="272">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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247 112 248 116 248 120 248 110 249 112 249 96 249 72 250 124 250 126 250 88 251 92 251 96 251 80 252 84 252 88 252 72 253 76 253 80 253 110 254 102 254 108 254 126 255 64 255 66 255 102 256 104 256 108 256 80 257 88 257 96 257 80 258 96 258 72 258 96 259 120 259 124 259 96 260 124 260 72 260 129 261 133 261 130 261 130 262 134 262 131 262 131 263 135 263 128 263 131 264 128 264 130 264 132 265 135 265 133 265 136 266 140 266 137 266 137 267 141 267 138 267 138 268 142 268 139 268 143 269 140 269 139 269 139 270 136 270 138 270 140 271 143 271 141 271</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae
new file mode 100644
index 00000000..41af1809
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae
@@ -0,0 +1,198 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2020-03-24T13:28:20</created>
+    <modified>2020-03-24T13:28:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">8192</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">1.000799</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <filtertype sid="filtertype" type="int">0</filtertype>
+          <bufflag sid="bufflag" type="int">0</bufflag>
+          <buftype sid="buftype" type="int">2</buftype>
+          <ray_samp sid="ray_samp" type="int">1</ray_samp>
+          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+          <spread sid="spread" type="float">1</spread>
+          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+          <sun_size sid="sun_size" type="float">1</sun_size>
+          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+          <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Metal_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
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1286 2641 222 2641 220 2641 1084 2642 1286 2642 220 2642 1058 2643 1239 2643 223 2643 1284 2644 1082 2644 223 2644 1284 2645 223 2645 1370 2645 1370 2646 223 2646 1304 2646 223 2647 1239 2647 1304 2647 228 2648 227 2648 1285 2648 228 2649 1237 2649 1234 2649 1367 2650 228 2650 1285 2650 1302 2651 1237 2651 228 2651 1302 2652 228 2652 1367 2652 1284 2653 1285 2653 1082 2653 1285 2654 227 2654 225 2654 1285 2655 225 2655 1082 2655 793 2656 1251 2656 1254 2656 803 2657 804 2657 1253 2657 771 2658 1262 2658 1264 2658 771 2659 772 2659 1262 2659 793 2660 796 2660 1251 2660 798 2661 1258 2661 1259 2661 770 2662 771 2662 1264 2662 770 2663 1264 2663 1265 2663 802 2664 1252 2664 1250 2664 802 2665 803 2665 1252 2665 792 2666 793 2666 1254 2666 774 2667 770 2667 1265 2667 806 2668 116 2668 112 2668 806 2669 112 2669 135 2669 794 2670 798 2670 1259 2670 794 2671 1259 2671 1260 2671 773 2672 774 2672 1265 2672 773 2673 1265 2673 169 2673 801 2674 792 2674 1254 2674 801 2675 1254 2675 1255 2675 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diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae
new file mode 100644
index 00000000..993d8f5f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae
@@ -0,0 +1,199 @@
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae
new file mode 100644
index 00000000..6a0c0daf
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae
@@ -0,0 +1,1750 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="realsense" name="realsense">
+      <node name="RealSense" id="RealSense" sid="RealSense">
+        <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 -0.000000 -1.000000 0.000000 0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_geometry url="#RealSense-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="RealSense_ncl1_1" target="#RealSense_ncl1_1"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#realsense"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
new file mode 100644
index 00000000..87f775bb
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>ctu_cras_norlab_x500_sensor_config_1</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Matej Petrlik</name>
+    <email>matej.petrlik@fel.cvut.cz</email>
+  </author>
+
+  <description>
+    CTU-CRAS-NORLAB X500 UAV 
+    Sensor configuration:
+    - 3D medium range lidar Ouster OS0-64
+    - upward Intel Realsense D435 (RGBD camera)
+    - downward Intel Realsense D435 (RGBD camera)
+    - standard SubT wide HD RGB camera
+    - standard SubT IMU 
+  </description>
+</model>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
new file mode 100644
index 00000000..50b616d7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -0,0 +1,911 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='ctu_cras_norlab_x500_sensor_config_1'>
+    <link name='base_link'>
+
+    <sensor name="front_laser" type="gpu_lidar">
+      <pose>0 0 0.0944 0 0 0</pose>
+      <update_rate>20</update_rate>
+      <lidar>
+        <scan>
+          <horizontal>
+            <samples>1024</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>6.28318530718</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>64</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.785398163397</min_angle>
+            <max_angle>0.785398163397</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.1</min>
+          <max>50</max>
+          <resolution>0.003</resolution>
+        </range>
+        <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.03</stddev>
+        </noise>
+      </lidar>
+    </sensor>
+
+    <sensor name="rs_up" type="rgbd_camera">
+        <pose>0.82 0 0.034 0 -1.57079632679 0</pose>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <camera name="rs_up">
+            <horizontal_fov>1.0472</horizontal_fov>
+            <lens>
+                <intrinsics>
+                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                    <fx>554.25469</fx>
+                    <fy>554.25469</fy>
+                    <!-- cx = ( width + 1 ) / 2 -->
+                    <cx>320.5</cx>
+                    <!-- cy = ( height + 1 ) / 2 -->
+                    <cy>240.5</cy>
+                    <s>0</s>
+                </intrinsics>
+            </lens>
+            <distortion>
+                <k1>0.0</k1>
+                <k2>0.0</k2>
+                <k3>0.0</k3>
+                <p1>0.0</p1>
+                <p2>0.0</p2>
+                <center>0.5 0.5</center>
+            </distortion>
+            <image>
+                <width>640</width>
+                <height>480</height>
+                <format>R8G8B8</format>
+            </image>
+            <clip>
+                <near>0.01</near>
+                <far>300</far>
+            </clip>
+            <depth_camera>
+              <clip>
+                <near>0.1</near>
+                <far>10</far>
+              </clip>
+            </depth_camera>
+            <noise>
+                <type>gaussian</type>
+                <mean>0</mean>
+                <stddev>0.007</stddev>
+            </noise>
+        </camera>
+    </sensor>
+
+    <sensor name="rs_down" type="rgbd_camera">
+        <pose>0.85 0 -0.20 0 1.57079632679 0</pose>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <camera name="rs_down">
+            <horizontal_fov>1.0472</horizontal_fov>
+            <lens>
+                <intrinsics>
+                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                    <fx>554.25469</fx>
+                    <fy>554.25469</fy>
+                    <!-- cx = ( width + 1 ) / 2 -->
+                    <cx>320.5</cx>
+                    <!-- cy = ( height + 1 ) / 2 -->
+                    <cy>240.5</cy>
+                    <s>0</s>
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+            <distortion>
+                <k1>0.0</k1>
+                <k2>0.0</k2>
+                <k3>0.0</k3>
+                <p1>0.0</p1>
+                <p2>0.0</p2>
+                <center>0.5 0.5</center>
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+            <image>
+                <width>640</width>
+                <height>480</height>
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+                <type>gaussian</type>
+                <mean>0</mean>
+                <stddev>0.007</stddev>
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+    <sensor name="camera_front" type="camera">
+        <pose>0.107 0 0.0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <camera name="camera_front">
+            <horizontal_fov>1.0472</horizontal_fov>
+            <lens>
+                <intrinsics>
+                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                    <fx>1108.5</fx>
+                    <fy>1108.5</fy>
+                    <!-- cx = ( width + 1 ) / 2 -->
+                    <cx>640.5</cx>
+                    <!-- cy = ( height + 1 ) / 2 -->
+                    <cy>480.5</cy>
+                    <s>0</s>
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+                <k1>0.0</k1>
+                <k2>0.0</k2>
+                <k3>0.0</k3>
+                <p1>0.0</p1>
+                <p2>0.0</p2>
+                <center>0.5 0.5</center>
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+            <image>
+                <width>1280</width>
+                <height>960</height>
+                <format>R8G8B8</format>
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+                <near>0.01</near>
+                <far>300</far>
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+            <noise>
+                <type>gaussian</type>
+                <mean>0</mean>
+                <stddev>0.007</stddev>
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+    </sensor>
+    <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+            <imu>
+                <angular_velocity>
+                    <x>
+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.009</stddev>
+                            <bias_mean>0.00075</bias_mean>
+                            <bias_stddev>0.005</bias_stddev>
+                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                            <precision>0.00025</precision>
+                        </noise>
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+                    <y>
+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.009</stddev>
+                            <bias_mean>0.00075</bias_mean>
+                            <bias_stddev>0.005</bias_stddev>
+                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                            <precision>0.00025</precision>
+                        </noise>
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+                    <z>
+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.009</stddev>
+                            <bias_mean>0.00075</bias_mean>
+                            <bias_stddev>0.005</bias_stddev>
+                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                            <precision>0.00025</precision>
+                        </noise>
+                    </z>
+                </angular_velocity>
+                <linear_acceleration>
+                    <x>
+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.021</stddev>
+                            <bias_mean>0.05</bias_mean>
+                            <bias_stddev>0.0075</bias_stddev>
+                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                            <precision>0.005</precision>
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+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.021</stddev>
+                            <bias_mean>0.05</bias_mean>
+                            <bias_stddev>0.0075</bias_stddev>
+                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                            <precision>0.005</precision>
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+                        <noise type="gaussian">
+                            <mean>0</mean>
+                            <stddev>0.021</stddev>
+                            <bias_mean>0.05</bias_mean>
+                            <bias_stddev>0.0075</bias_stddev>
+                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                            <precision>0.005</precision>
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+                </linear_acceleration>
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+    <light name="light_front_left" type="spot">
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+      <attenuation>
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+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
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+        <outer_angle>2.9</outer_angle>
+        <falloff>1</falloff>
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+    <light name="light_front_right" type="spot">
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+      <attenuation>
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+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
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+        <outer_angle>2.9</outer_angle>
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+      <direction>1 0 0</direction>
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+        <mass>3.3</mass>
+        <inertia>
+          <ixx>0.0316667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0316667</iyy>
+          <iyz>0</iyz>
+          <izz>0.0625</izz>
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+      </inertial>
+      <collision name='base_link_inertia_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
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+      </visual>
+      <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_29'>
+        <pose>0 0 -0.022 1.5708 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/holders/holder_rs_down_bfox.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='imu_joint' type='revolute'>
+      <pose relative_to='base_link'>0 0 0 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <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>
+      </axis>
+    </joint>
+    <link name='imu_link'>
+      <pose relative_to='imu_joint'>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='rotor_0_joint' type='revolute'>
+      <pose relative_to='base_link'>0.177484 -0.177484 0.057 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>rotor_0</child>
+      <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>
+      </axis>
+    </joint>
+    <link name='rotor_0'>
+      <pose relative_to='rotor_0_joint'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_0_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.127</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='rotor_0_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/holybro/holybro_x500_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_1_joint' type='revolute'>
+      <pose relative_to='base_link'>-0.177484 0.177484 0.057 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>rotor_1</child>
+      <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>
+      </axis>
+    </joint>
+    <link name='rotor_1'>
+      <pose relative_to='rotor_1_joint'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_1_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.127</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='rotor_1_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/holybro/holybro_x500_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_2_joint' type='revolute'>
+      <pose relative_to='base_link'>0.177484 0.177484 0.057 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>rotor_2</child>
+      <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>
+      </axis>
+    </joint>
+    <link name='rotor_2'>
+      <pose relative_to='rotor_2_joint'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_2_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.127</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='rotor_2_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>-1 1 1</scale>
+            <uri>meshes/holybro/holybro_x500_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='rotor_3_joint' type='revolute'>
+      <pose relative_to='base_link'>-0.177484 -0.177484 0.057 0 -0 0</pose>
+      <parent>base_link</parent>
+      <child>rotor_3</child>
+      <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>
+      </axis>
+    </joint>
+    <link name='rotor_3'>
+      <pose relative_to='rotor_3_joint'>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 -0 0</pose>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.0001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0001</iyy>
+          <iyz>0</iyz>
+          <izz>0.0001</izz>
+        </inertia>
+      </inertial>
+      <collision name='rotor_3_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.127</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='rotor_3_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>-1 1 1</scale>
+            <uri>meshes/holybro/holybro_x500_prop.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
new file mode 100644
index 00000000..0d5d437a
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_x500_sensor_config_1</name>
+  <version>0.1.0</version>
+  <description>
+    CTU-CRAS-NORLAB X500 UAV 
+    Sensor configuration:
+    - 3D medium range lidar Ouster OS0-64
+    - upward Intel Realsense D435 (RGBD camera)
+    - downward Intel Realsense D435 (RGBD camera)
+    - standard SubT wide HD RGB camera
+    - standard SubT IMU 
+  </description>
+  <author email="matej.petrlik@fel.cvut.cz">Matej Petrlik</author>
+  <maintainer email="matej.petrlik@fel.cvut.cz">Matej Petrlik</maintainer>
+  <maintainer email="tomas.baca@fel.cvut.cz">Tomas Baca</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+</package>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
new file mode 100644
index 00000000..d0d28619
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
@@ -0,0 +1,77 @@
+# CTU-CRAS-NORLAB-X500
+This specifications.md file is a description and proof of virtual model validation for CTU-CRAS-NORLAB's robot X500 with Sensor Config 1. 
+This robot may be launched using the `ign launch ` command with the variable name `ctu_cras_norlab_x500_sensor_config_1`.
+
+## Description
+X500 is a quadrotor UAV based on the Holybro X500 frame built for the Final Circuit of the DARPA Subterranean Challenge.
+Its sensory equipment consisting of 3D LiDAR, 2 RGBD cameras and 1 RGB camera allows reliable navigation through various environments, its small size facilitates flying through narrow passages.
+A two-battery system consisting of 2 Lipo 6750mAh 4-cell batteries connected in parallel can power the UAV for over 25 minutes of flight time.
+The propulsion system consists of T-MOTOR MN3510 KV700 motors and 13 inch propellers.
+
+## Usage Instructions
+The robot motion is controlled via standard cmd_vel commands.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this configuration.
+
+## Cost and Scale
+The CTU-CRAS-NORLAB's X500 UAV  has an estimated commercial cost of 12500 USD.
+It weights approximately 3.3 kg.
+
+## Sensors
+This X500 with sensor configuration Sensor Configu 1 includes the following sensors. 
+The specifications of the sensors are provided below in
+the [Validation Links](#validation_links) section.
+
+The following specific sensors are declared payloads of this vehicle:
+
+* 2x RGBD camera - Intel Realsense D435i, modeled by `rgbd_camera` plugin.
+* 1x 3D medium range LiDAR - Ouster OS0-64, modeled by `gpu_lidar` plugin.
+* 1x HD wide camera with standard SubT specification, modeled by `camera` plugin.
+* 1x IMU with standard SubT specification, modeled by `imu` plugin.
+
+## Control
+This X500 is controlled by the open-source [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers) package. 
+
+## Motion Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics:
+
+* _x_ velocity range from -8.61 m/s to 8.61 m/s
+* _y_ velocity range from -8.6 m/s to 8.6 m/s 
+* _z_ velocity range from -4.47 m/s to 4.47 m/s.
+* _x_ acceleration range from -7.49 m/s<sup>2</sup> to 7.49 m/s<sup>2</sup>.
+* _y_ acceleration range from -8.13 m/s<sup>2</sup> to 8.13 m/s<sup>2</sup>.
+* _z_ acceleration range from -7.29 m/s<sup>2</sup> to 7.29 m/s<sup>2</sup>.
+* _z_ angular velocity range from -2.44 rad/s to 2.44 rad/s.
+
+The constraints can be found in the following locations within the simulation model package:
+
+* `spawner.rb`, lines 113-115
+
+## Endurance Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following endurance characteristics:
+* Battery life of 1500 seconds.
+
+## Diversions from Physical Hardware
+Virtual X500 is a faithful representation of real-world X500 with few diversions:
+* Front RGB Camera
+  * Real-world: [mvBlueFOX-MLC 200w](https://www.matrix-vision.com/USB2.0-single-board-camera-mvbluefox-mlc.html) soon to be upgraded to [daA1600-60um](https://www.baslerweb.com/en/products/cameras/area-scan-cameras/dart/daa1600-60um-s-mount/ )
+  * Virtual: HD wide camera from the [subt repository](https://github.com/osrf/subt/wiki/api#sensors)
+* IMU:
+  * Real-world: we are using the IMU from [Pixhawk4 FCU](https://docs.px4.io/master/en/flight_controller/pixhawk4.html#quick-summary)
+  * Virtual: IMU from the [subt repository](https://github.com/osrf/subt/wiki/api#sensors)
+
+## <a name="validation_links"></a>Validation and Specification Links
+* Vehicle specification links:
+  * [X500 frame](http://www.holybro.com/product/x500-kit/)
+  * [Motors](https://store-en.tmotor.com/goods.php?id=339)
+  * [Batteries](https://www.professional-multirotors.com/product/tattu-6750mah-14-8v-25c-4s1p-lipo-battery-99wh/)
+* Sensor specification links:
+  * [Intel Realsense D435](https://www.intelrealsense.com/depth-camera-d435/)
+  * [Ouster OS0-64 LiDAR](https://data.ouster.io/downloads/datasheets/datasheet-revd-v2p0-os0.pdf)
+* Motion validation links
+  * [Unedited video](https://www.youtube.com/watch?v=ilg0HgWysHg)
+  * [Video with visualized telemetry](https://www.youtube.com/watch?v=w_62XWc6W7w)
+  * [Telemetry data](https://nasmrs.felk.cvut.cz/index.php/s/80oKJh506PsmbNQ)
+* Endurance validation links
+  * [Unedited video](https://www.youtube.com/watch?v=HlTlnZcfB7I)
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/Common.cpp b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/Common.cpp
new file mode 100644
index 00000000..48c1bab1
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/Common.cpp
@@ -0,0 +1,248 @@
+/* includes //{ */
+
+#include <Common.h>
+
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/math/eigen3/Conversions.hh>
+
+#include <ignition/gazebo/components/ChildLinkName.hh>
+#include <ignition/gazebo/components/Joint.hh>
+#include <ignition/gazebo/components/JointAxis.hh>
+#include <ignition/gazebo/components/Link.hh>
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/gazebo/components/Pose.hh>
+#include "ignition/gazebo/components/LinearVelocity.hh"
+#include "ignition/gazebo/components/AngularVelocity.hh"
+
+//}
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+/* loadRotorConfiguration() //{ */
+
+RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink) {
+
+  RotorConfiguration out;
+  std::size_t        count = 0;
+
+  for (sdf::ElementPtr elem = _sdf->GetFirstElement(); elem; elem = elem->GetNextElement("rotor"), ++count) {
+
+    Rotor rotor;
+
+    if (!elem->HasElement("jointName")) {
+      ignerr << "Please specify jointName for rotor index " << count << std::endl;
+      continue;
+    }
+
+    const std::string jointName = elem->Get<std::string>("jointName");
+
+    const Entity joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName), components::ParentEntity(_model.Entity()));
+
+    if (kNullEntity == joint) {
+      ignerr << "Joint with name " << jointName << " could not be found in "
+             << "model " << _model.Name(_ecm) << " while processing rotor "
+             << "index " << count << std::endl;
+      continue;
+    }
+
+    // Calculate the armLength and angle of propeller. The angle of a
+    // propeller is the angle about the z axis from the x axis of the frame
+    // attached to _comLink to the joint.
+
+    // First, get the pose of the joint w.r.t _comLink
+    const std::string childLinkName = _ecm.Component<components::ChildLinkName>(joint)->Data();
+
+    const Entity childLink = _ecm.EntityByComponents(components::Link(), components::Name(childLinkName), components::ParentEntity(_model.Entity()));
+
+    if (kNullEntity == childLink) {
+      ignerr << "Child link of joint " << jointName << " with name " << childLinkName << " could not be found in  model " << _model.Name(_ecm)
+             << " while processing rotor index " << count << std::endl;
+      continue;
+    }
+
+    const math::Pose3d jointPose     = _ecm.Component<components::Pose>(joint)->Data();
+    const math::Pose3d childLinkPose = _ecm.Component<components::Pose>(childLink)->Data();
+    const math::Pose3d comLinkPose   = _ecm.Component<components::Pose>(_comLink)->Data();
+
+    const math::Pose3d jointPoseComLink = comLinkPose.Inverse() * (childLinkPose * jointPose);
+
+    // Project jointPoseComLink into the rotor plane, which is assumed to be
+    // the XY plane.
+    math::Vector3d unitZ     = math::Vector3d::UnitZ;
+    math::Vector3d rotorProj = jointPoseComLink.Pos() - (unitZ.Dot(jointPoseComLink.Pos()) * unitZ);
+
+    rotor.armLength = rotorProj.Length();
+    math::Quaterniond rot;
+    rot.From2Axes(math::Vector3d::UnitX, rotorProj);
+    rotor.angle = rot.Yaw();
+
+    if (!elem->HasElement("forceConstant")) {
+      ignerr << "Please specify forceConstant for rotor index " << count << std::endl;
+      continue;
+    }
+    rotor.forceConstant = elem->Get<double>("forceConstant");
+
+    // forceConstant assumes that the rotor's thrust is along the body's +z
+    // direction. However, UAVs have their rotors oriented such they are not
+    // orthogonal to the rotor plane (the COM link frame's xy plane). To
+    // account for the difference in thrust, we multiply the forceConstant
+    // with the projection of the rotor's vector onto the +z axis of the
+    // COM link frame.
+    auto axis = _ecm.Component<components::JointAxis>(joint);
+    if (nullptr != axis) {
+      math::Vector3d xyzInJoint;
+      axis->Data().ResolveXyz(xyzInJoint);
+
+      auto xyzInComLink = comLinkPose.Rot().Inverse() * (childLinkPose.Rot() * jointPose.Rot() * xyzInJoint);
+
+      // The projection onto the +z axis is just the z component of the
+      // xyzInComLink vector
+      rotor.forceConstant *= xyzInComLink.Z();
+    }
+
+    if (!elem->HasElement("momentConstant")) {
+      ignerr << "Please specify momentConstant for rotor index " << count << std::endl;
+      continue;
+    }
+
+    rotor.momentConstant = elem->Get<double>("momentConstant");
+
+    if (!elem->HasElement("direction")) {
+      ignerr << "Please specify direction for rotor index " << count << std::endl;
+      continue;
+    }
+
+    rotor.direction = elem->Get<int>("direction");
+
+    out.push_back(rotor);
+  }
+
+  return out;
+}
+
+//}
+
+/* calculateAllocationMatrix() //{ */
+
+std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration) {
+
+  Eigen::Matrix4Xd allocationMatrix;
+
+  allocationMatrix.resize(4, _rotorConfiguration.size());
+
+  unsigned int i = 0;
+
+  for (const Rotor &rotor : _rotorConfiguration) {
+
+    // Set first row of allocation matrix.
+    allocationMatrix(0, i) = sin(rotor.angle) * rotor.armLength * rotor.forceConstant;
+    // Set second row of allocation matrix.
+    allocationMatrix(1, i) = -cos(rotor.angle) * rotor.armLength * rotor.forceConstant;
+    // Set third row of allocation matrix.
+    allocationMatrix(2, i) = -rotor.direction * rotor.forceConstant * rotor.momentConstant;
+    // Set forth row of allocation matrix.
+    allocationMatrix(3, i) = rotor.forceConstant;
+    ++i;
+  }
+
+  Eigen::FullPivLU<Eigen::Matrix4Xd> lu(allocationMatrix);
+
+  lu.setThreshold(1e-9);
+  int rank = lu.rank();
+
+  if (rank < 4) {
+    ignerr << "The rank of the allocation matrix is " << lu.rank() << ", it should have rank 4, to have a fully controllable system,"
+           << " check your configuration." << std::endl;
+    return std::nullopt;
+  }
+
+  return std::make_optional(allocationMatrix);
+}
+
+//}
+
+/* createFrameDataComponents() //{ */
+
+void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link) {
+
+  // Create a world Pose component if one is not present
+  if (_ecm.Component<components::WorldPose>(_link)) {
+    _ecm.CreateComponent(_link, components::WorldPose());
+  }
+
+  // Create a world linear velocity component if one is not present.
+  if (!_ecm.Component<components::WorldLinearVelocity>(_link)) {
+    _ecm.CreateComponent(_link, components::WorldLinearVelocity());
+  }
+
+  // Create an angular velocity component if one is not present.
+  if (!_ecm.Component<components::AngularVelocity>(_link)) {
+    _ecm.CreateComponent(_link, components::AngularVelocity());
+  }
+}
+
+//}
+
+/* getFrameData() //{ */
+
+std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise) {
+
+  auto poseComp = _ecm.Component<components::WorldPose>(_link);
+
+  if (!poseComp) {
+    ignerr << "WorldPose component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+
+  auto velComp = _ecm.Component<components::WorldLinearVelocity>(_link);
+
+  if (!velComp) {
+    ignerr << "WorldLinearVelocity component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+  auto angVelComp = _ecm.Component<components::AngularVelocity>(_link);
+
+  if (!angVelComp) {
+    ignerr << "AngularVelocity component not found on link entity " << _link << std::endl;
+    return std::nullopt;
+  }
+
+  auto applyNoise = [](Eigen::Vector3d &_val, const Eigen::Vector3d &_mean, const Eigen::Vector3d &_stdDev) {
+    for (int i = 0; i < 3; ++i) {
+      if (_stdDev(i) > 0) {
+        _val(i) += math::Rand::DblNormal(_mean(i), _stdDev(i));
+      }
+    }
+  };
+
+  auto frameData = std::make_optional<FrameData>(
+      {math::eigen3::convert(poseComp->Data()), math::eigen3::convert(velComp->Data()), math::eigen3::convert(angVelComp->Data())});
+
+  // --------------------------------------------------------------
+  // |         add noise to the ideal simulated UAV states        |
+  // --------------------------------------------------------------
+  applyNoise(frameData->linearVelocityWorld, _noise.linearVelocityMean, _noise.linearVelocityStdDev);
+  applyNoise(frameData->angularVelocityBody, _noise.angularVelocityMean, _noise.angularVelocityStdDev);
+
+  return frameData;
+}
+
+//}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
new file mode 100644
index 00000000..99a33e4e
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/MRSMultirotorController.cpp
@@ -0,0 +1,573 @@
+/* includes //{ */
+
+#include <sdf/sdf.hh>
+
+#include <ignition/gazebo/components/Actuators.hh>
+#include <ignition/gazebo/components/Gravity.hh>
+#include <ignition/gazebo/components/Inertial.hh>
+#include <ignition/gazebo/components/Link.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/gazebo/components/World.hh>
+#include <ignition/gazebo/Link.hh>
+#include <ignition/gazebo/Model.hh>
+#include <ignition/gazebo/System.hh>
+
+#include <ignition/msgs/actuators.pb.h>
+#include <ignition/msgs/twist.pb.h>
+
+#include <ignition/transport/Node.hh>
+
+#include <ignition/math/eigen3/Conversions.hh>
+#include <ignition/math/Inertial.hh>
+#include <ignition/math/Vector3.hh>
+
+#include <ignition/common/Profiler.hh>
+
+#include <ignition/plugin/Register.hh>
+
+#include <Eigen/Geometry>
+#include <memory>
+
+#include <ros/package.h>
+#include <ros/ros.h>
+
+#include <geometry_msgs/Twist.h>
+
+#include <limits>
+
+#include <Common.h>
+#include <SE3Controller.h>
+
+#include <thread>
+
+//}
+
+/* using //{ */
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+using namespace multicopter_control;
+
+//}
+
+/* defines //{ */
+
+#define MAIN_THREAD_RATE 100.0
+
+//}
+
+/* class MRSMultirotorController //{ */
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public ISystemConfigure, public ISystemPreUpdate {
+
+public:
+  MRSMultirotorController() = default;
+
+  void Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &ecm, EventManager &_eventMgr) override;
+
+  void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) override;
+
+private:
+  bool is_initialized_ = false;
+
+  // | ----------------------- parameters ----------------------- |
+
+  math::Vector3d _maximum_linear_velocity_;
+  math::Vector3d _maximum_angular_velocity_;
+
+  std::string _robot_namespace_;
+  std::string _cmd_vel_topic_{"cmd_vel"};
+  std::string _enable_topic_{"enable"};
+
+  std::string _gazebo_model_entity_name_;
+
+  // noise parameters
+  // noise to be added to the UAV states received from the simulator
+  multicopter_control::NoiseParameters _noise_parameters_;
+
+  // | -------------------- plugin interface -------------------- |
+
+  void OnTwist(const msgs::Twist &msg);
+  void OnEnable(const msgs::Boolean &msg);
+  void PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels);
+
+  // gazebo links and models
+  Model  _gazebo_model_{kNullEntity};
+  Entity _gazebo_model_entity_;
+
+  transport::Node ignition_node_;
+
+  Eigen::VectorXd rotor_velocities_;
+  msgs::Actuators rotor_velocities_msg_;
+
+  std::unique_ptr<multicopter_control::SE3Controller> multirotor_controller_ptr_;
+
+  std::atomic<bool> is_active_{true};
+
+  // | --------------------- spinner thread --------------------- |
+
+  std::thread thread_main_;
+  void        threadMain();
+
+  // --------------------------------------------------------------
+  // |               subscriber to velocity command               |
+  // --------------------------------------------------------------
+
+  std::optional<msgs::Twist> cmd_vel_;
+  std::mutex                 mutex_cmd_vel_;
+
+  // --------------------------------------------------------------
+  // |            subscriber for feedforward reference            |
+  // --------------------------------------------------------------
+
+  void callbackFeedForward(const geometry_msgs::TwistConstPtr &msg);
+
+  ros::Subscriber                     subscriber_feedforward_;
+  std::optional<geometry_msgs::Twist> feedforward_;
+  std::mutex                          mutex_feedforward_;
+};
+
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
+
+//}
+
+// | -------------------- plugin interface -------------------- |
+
+/* Configure() //{ */
+
+void MRSMultirotorController::Configure(const Entity &entity, const std::shared_ptr<const sdf::Element> &sdf, EntityComponentManager &ecm, EventManager &) {
+
+  // init ros node
+  int    argc = 0;
+  char **argv = NULL;
+  ros::init(argc, argv, "mrs_multirotor_controller", ros::init_options::NoSigintHandler);
+  ros::NodeHandle ros_nh = ros::NodeHandle("~");
+
+  ROS_INFO("[%s]: initializing", ros::this_node::getName().c_str());
+
+  {  // gazebo model
+
+    _gazebo_model_ = Model(entity);
+
+    if (!_gazebo_model_.Valid(ecm)) {
+      ignerr << "MRSMultirotorController plugin should be attached to a model "
+             << "entity. Failed to initialize." << std::endl;
+      return;
+    }
+  }
+
+  auto sdf_clone = sdf->Clone();
+
+  {  // get the com link name
+
+    if (sdf_clone->HasElement("comLinkName")) {
+      _gazebo_model_entity_name_ = sdf_clone->Get<std::string>("comLinkName");
+    }
+
+    if (_gazebo_model_entity_name_.empty()) {
+      ignerr << "found an empty comLinkName parameter. Failed to initialize.\n";
+      return;
+    }
+  }
+
+  {  // get the link entity
+
+    _gazebo_model_entity_ = _gazebo_model_.LinkByName(ecm, _gazebo_model_entity_name_);
+
+    if (_gazebo_model_entity_ == kNullEntity) {
+      ignerr << "Link " << _gazebo_model_entity_name_ << " could not be found. Failed to initialize.\n";
+      return;
+    }
+  }
+
+  createFrameDataComponents(ecm, _gazebo_model_entity_);
+
+  VehicleParameters vehicleParams;
+
+  math::Inertiald vehicleInertial;
+
+  // Compute the vehicle's moment of inertia and mass assuming that all the
+  // links in the model belong to the vehicle.
+  for (const Entity &link : ecm.ChildrenByComponents(_gazebo_model_.Entity(), components::Link())) {
+    auto inertial = ecm.Component<components::Inertial>(link);
+    if (nullptr == inertial) {
+      ignerr << "Could not find inertial component on on link " << _gazebo_model_entity_name_ << std::endl;
+      return;
+    }
+    vehicleInertial += inertial->Data();
+  }
+
+  vehicleParams.mass    = vehicleInertial.MassMatrix().Mass();
+  vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
+
+  if (sdf_clone->HasElement("rotorConfiguration")) {
+    vehicleParams.rotorConfiguration = loadRotorConfiguration(ecm, sdf_clone->GetElement("rotorConfiguration"), _gazebo_model_, _gazebo_model_entity_);
+  } else {
+    ignerr << "Please specify rotorConfiguration.\n";
+  }
+
+  rotor_velocities_.resize(vehicleParams.rotorConfiguration.size());
+
+  auto worldEntity = ecm.EntityByComponents(components::World());
+
+  if (kNullEntity == worldEntity) {
+    ignerr << "World entity missing." << std::endl;
+    return;
+  }
+
+  // Get the world acceleration (defined in world frame)
+  auto gravityComp = ecm.Component<components::Gravity>(worldEntity);
+
+  if (nullptr == gravityComp) {
+    ignerr << "World missing gravity." << std::endl;
+    return;
+  }
+
+  vehicleParams.gravity = math::eigen3::convert(gravityComp->Data());
+
+  SE3ControllerParameters controller_parameters;
+
+  if (sdf_clone->HasElement("velocityGain")) {
+    controller_parameters.velocity_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("velocityGain"));
+  } else {
+    ignerr << "Please specify velocityGain for MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdf_clone->HasElement("attitudeGain")) {
+    controller_parameters.attitude_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("attitudeGain"));
+  } else {
+    ignerr << "Please specify attitudeGain for MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdf_clone->HasElement("angularRateGain")) {
+    controller_parameters.angular_rate_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("angularRateGain"));
+  } else {
+    ignerr << "Please specify angularRateGain MRSMultirotorController.\n";
+    return;
+  }
+
+  if (sdf_clone->HasElement("maximumLinearAcceleration")) {
+    controller_parameters.max_linear_acceleration = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("maximumLinearAcceleration"));
+  } else {
+    controller_parameters.max_linear_acceleration.setConstant(std::numeric_limits<double>::max());
+  }
+
+  if (sdf_clone->HasElement("_maximum_linear_velocity_")) {
+    _maximum_linear_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_linear_velocity_").Abs();
+  } else {
+    _maximum_linear_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+  }
+
+  if (sdf_clone->HasElement("_maximum_angular_velocity_")) {
+    _maximum_angular_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_angular_velocity_").Abs();
+  } else {
+    _maximum_angular_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
+  }
+
+  multirotor_controller_ptr_ = std::make_unique<multicopter_control::SE3Controller>(controller_parameters, vehicleParams);
+
+  if (nullptr == multirotor_controller_ptr_) {
+    ignerr << "Error while creating the LeeVelocityController\n";
+    return;
+  }
+
+  math::Vector3d linearVelocityMean{0, 0, 0};
+  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseMean", linearVelocityMean, linearVelocityMean);
+
+  math::Vector3d linearVelocityStdDev{0, 0, 0};
+  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseStdDev", linearVelocityStdDev, linearVelocityStdDev);
+
+  math::Vector3d angularVelocityMean{0, 0, 0};
+  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseMean", angularVelocityMean, angularVelocityMean);
+
+  math::Vector3d angularVelocityStdDev{0, 0, 0};
+  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseStdDev", angularVelocityStdDev, angularVelocityStdDev);
+
+  _noise_parameters_.linearVelocityMean    = math::eigen3::convert(linearVelocityMean);
+  _noise_parameters_.linearVelocityStdDev  = math::eigen3::convert(linearVelocityStdDev);
+  _noise_parameters_.angularVelocityMean   = math::eigen3::convert(angularVelocityMean);
+  _noise_parameters_.angularVelocityStdDev = math::eigen3::convert(angularVelocityStdDev);
+
+  if (sdf_clone->HasElement("robotNamespace")) {
+    _robot_namespace_ = transport::TopicUtils::AsValidTopic(sdf_clone->Get<std::string>("robotNamespace"));
+    if (_robot_namespace_.empty()) {
+      ignerr << "Robot namespace [" << sdf_clone->Get<std::string>("robotNamespace") << "] is invalid." << std::endl;
+      return;
+    }
+  } else {
+    ignerr << "Please specify a robotNamespace.\n";
+    return;
+  }
+
+  sdf_clone->Get<std::string>("commandSubTopic", _cmd_vel_topic_, _cmd_vel_topic_);
+  _cmd_vel_topic_ = transport::TopicUtils::AsValidTopic(_cmd_vel_topic_);
+  if (_cmd_vel_topic_.empty()) {
+    ignerr << "Invalid command sub-topic." << std::endl;
+    return;
+  }
+
+  sdf_clone->Get<std::string>("enableSubTopic", _enable_topic_, _enable_topic_);
+  _enable_topic_ = transport::TopicUtils::AsValidTopic(_enable_topic_);
+  if (_enable_topic_.empty()) {
+    ignerr << "Invalid enable sub-topic." << std::endl;
+    return;
+  }
+
+  // Subscribe to actuator command messages
+  std::string topic{_robot_namespace_ + "/" + _cmd_vel_topic_};
+
+  ignition_node_.Subscribe(topic, &MRSMultirotorController::OnTwist, this);
+  ignmsg << "MRSMultirotorController subscribing to Twist messages on [" << topic << "]" << std::endl;
+
+  std::string enableTopic{_robot_namespace_ + "/" + _enable_topic_};
+  ignition_node_.Subscribe(enableTopic, &MRSMultirotorController::OnEnable, this);
+  ignmsg << "MRSMultirotorController subscribing to Boolean messages on [" << enableTopic << "]" << std::endl;
+
+  // Create the Actuators component to take control of rotor speeds
+  rotor_velocities_msg_.mutable_velocity()->Resize(rotor_velocities_.size(), 0);
+
+  ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
+
+  // --------------------------------------------------------------
+  // |                   custom ROS subscribers                   |
+  // --------------------------------------------------------------
+
+  std::string robot_name = _gazebo_model_.Name(ecm);
+
+  subscriber_feedforward_ =
+      ros_nh.subscribe(robot_name + "/feedforward", 1, &MRSMultirotorController::callbackFeedForward, this, ros::TransportHints().tcpNoDelay());
+
+  // | --------------------- spinner thread --------------------- |
+
+  ROS_INFO("[%s]: initializing the main thread", ros::this_node::getName().c_str());
+  thread_main_ = std::thread(&MRSMultirotorController::threadMain, this);
+
+  // | ---------------- finish the initialization --------------- |
+
+  ROS_INFO("[%s]: initialized", ros::this_node::getName().c_str());
+
+  is_initialized_ = true;
+}
+
+//}
+
+/* PreUpdate() //{ */
+
+void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) {
+
+  IGN_PROFILE("MRSMultirotorController::PreUpdate");
+
+  if (!is_initialized_) {
+    return;
+  }
+
+  msgs::Twist cmd_vel;
+
+  {
+    std::scoped_lock lock(mutex_cmd_vel_);
+
+    if (!cmd_vel_.has_value()) {
+      return;
+    }
+
+    cmd_vel = cmd_vel_.value();
+  }
+
+  geometry_msgs::Twist feedforward;
+
+  {
+    std::scoped_lock lock(mutex_feedforward_);
+
+    if (feedforward_.has_value()) {
+      feedforward = feedforward_.value();
+      ROS_INFO_ONCE("[%s]: using the feedforward for control", ros::this_node::getName().c_str());
+    }
+  }
+
+  if (_info.dt < std::chrono::steady_clock::duration::zero()) {
+    ignwarn << "Detected jump back in time [" << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count() << "s]. System may not work properly."
+            << std::endl;
+  }
+
+  // nothing left to do if paused.
+  if (_info.paused) {
+    return;
+  }
+
+  if (!is_active_) {
+
+    // if the last published rotor velocities were not 0, publish zero velocities
+    if (rotor_velocities_.squaredNorm() > 0) {
+      rotor_velocities_.setZero();
+      this->PublishRotorVelocities(ecm, rotor_velocities_);
+
+      // clear the cmd_vel_ so that the system waits for a new command after being renabled.
+      std::lock_guard<std::mutex> lock(mutex_cmd_vel_);
+      cmd_vel_.reset();
+    }
+
+    return;
+  }
+
+  // | ------------- prepare the velocity reference ------------- |
+
+  EigenTwist cmd_vel_eigen;
+
+  // saturate to maximum allowed velocity
+  math::Vector3d linear = msgs::Convert(cmd_vel.linear());
+  linear.Min(_maximum_linear_velocity_);
+  linear.Max(-_maximum_linear_velocity_);
+
+  // saturate to maximum allowed angular velocity
+  math::Vector3d angular = msgs::Convert(cmd_vel.angular());
+  angular.Min(_maximum_angular_velocity_);
+  angular.Max(-_maximum_angular_velocity_);
+
+  cmd_vel_eigen.linear  = math::eigen3::convert(linear);
+  cmd_vel_eigen.angular = math::eigen3::convert(angular);
+
+  // | ------------ prepare the feedforward reference ----------- |
+
+  SE3ControllerFeedforward cmd_feedforward;
+
+  cmd_feedforward.acceleration[0] = feedforward.linear.x;
+  cmd_feedforward.acceleration[1] = feedforward.linear.y;
+  cmd_feedforward.acceleration[2] = feedforward.linear.z;
+
+  cmd_feedforward.jerk[0] = feedforward.angular.x;
+  cmd_feedforward.jerk[1] = feedforward.angular.y;
+  cmd_feedforward.jerk[2] = feedforward.angular.z;
+
+  // | ------------ get the UAV model simulator data ------------ |
+
+  std::optional<FrameData> frameData = getFrameData(ecm, _gazebo_model_entity_, _noise_parameters_);
+
+  if (!frameData.has_value()) {
+    return;
+  }
+
+  // | -------------- calculate the control action -------------- |
+
+  rotor_velocities_ = multirotor_controller_ptr_->CalculateRotorVelocities(frameData.value(), cmd_vel_eigen, cmd_feedforward);
+
+  // publish the control action
+  PublishRotorVelocities(ecm, rotor_velocities_);
+}
+
+//}
+
+/* OnTwist() //{ */
+
+void MRSMultirotorController::OnTwist(const msgs::Twist &msg) {
+
+  {
+    std::scoped_lock lock(mutex_cmd_vel_);
+
+    cmd_vel_ = msg;
+  }
+
+  ROS_INFO_ONCE("[%s]: MRS controller at work", ros::this_node::getName().c_str());
+}
+
+//}
+
+/* OnEnabled() //{ */
+
+void MRSMultirotorController::OnEnable(const msgs::Boolean &msg) {
+
+  is_active_ = msg.data();
+}
+
+//}
+
+/* PublishRotorVelocities() //{ */
+
+void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels) {
+
+  // check the size of the message
+  if (vels.size() != rotor_velocities_msg_.velocity_size()) {
+    rotor_velocities_msg_.mutable_velocity()->Resize(vels.size(), 0);
+  }
+
+  // fill in the velocities
+  for (int i = 0; i < vels.size(); ++i) {
+    rotor_velocities_msg_.set_velocity(i, vels(i));
+  }
+
+  // Publish the message by setting the Actuators component on the model entity.
+  // This assumes that the MulticopterMotorModel system is attached to this model
+  auto actuatorMsgComp = ecm.Component<components::Actuators>(_gazebo_model_.Entity());
+
+  if (actuatorMsgComp) {
+
+    auto compFunc = [](const msgs::Actuators &_a, const msgs::Actuators &_b) {
+      return std::equal(_a.velocity().begin(), _a.velocity().end(), _b.velocity().begin());
+    };
+
+    auto state = actuatorMsgComp->SetData(rotor_velocities_msg_, compFunc) ? ComponentState::PeriodicChange : ComponentState::NoChange;
+
+    ecm.SetChanged(_gazebo_model_.Entity(), components::Actuators::typeId, state);
+
+  } else {
+    ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
+  }
+}
+
+//}
+
+// | --------------------- other routines --------------------- |
+
+/* callbackFeedForward() //{ */
+
+void MRSMultirotorController::callbackFeedForward(const geometry_msgs::TwistConstPtr &msg) {
+
+  if (!is_initialized_) {
+    return;
+  }
+
+  {
+    std::scoped_lock lock(mutex_feedforward_);
+
+    feedforward_ = *msg;
+  }
+
+  ROS_INFO_ONCE("[%s]: getting feedforward reference", ros::this_node::getName().c_str());
+}
+
+//}
+
+/* threadMain() //{ */
+
+void MRSMultirotorController::threadMain() {
+
+  ros::Rate thread_rate(MAIN_THREAD_RATE);
+
+  while (ros::ok()) {
+
+    ROS_INFO_ONCE("[%s]: main thread spinning", ros::this_node::getName().c_str());
+
+    thread_rate.sleep();
+
+    ros::spinOnce();
+  }
+}
+
+//}
+
+IGNITION_ADD_PLUGIN(MRSMultirotorController, ignition::gazebo::System, MRSMultirotorController::ISystemConfigure, MRSMultirotorController::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(MRSMultirotorController, "ignition::gazebo::systems::MRSMultirotorController")
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/SE3Controller.cpp b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/SE3Controller.cpp
new file mode 100644
index 00000000..1eb29395
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/src/SE3Controller.cpp
@@ -0,0 +1,201 @@
+/* includes //{ */
+
+#include <SE3Controller.h>
+
+//}
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+{
+namespace systems
+{
+namespace multicopter_control
+{
+
+// | ------------------------- PUBLIC ------------------------- |
+
+/* SE3Controller() //{ */
+
+SE3Controller::SE3Controller(const SE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters) {
+
+  _controller_parameters_ = controller_parameters;
+  _vehicle_parameters_    = vehicle_parameters;
+
+  InitializeParameters();
+}
+
+//}
+
+/* CalculateRotorVelocities() //{ */
+
+Eigen::VectorXd SE3Controller::CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
+                                                        const SE3ControllerFeedforward &feedforward_command) const {
+
+  // | ----- transform the stuff from the body to the world ----- |
+
+  // rotation from the body to the world
+  Eigen::Matrix3d R = simulator_model_data.pose.linear();
+
+  Eigen::Vector3d vel_ref  = R * control_command.linear;
+  Eigen::Vector3d acc_ref  = R * feedforward_command.acceleration;
+  Eigen::Vector3d jerk_ref = R * feedforward_command.jerk;
+
+  // desired acceleration: proportional control of velocity + acceleration feedforward
+  Eigen::Vector3d des_acceleration = ComputeDesiredAcceleration(simulator_model_data, vel_ref, acc_ref);
+
+  const double des_yaw_rate = control_command.angular[2];
+
+  Eigen::Vector3d des_angular_acceleration = SO3Controller(simulator_model_data, des_acceleration, jerk_ref, des_yaw_rate);
+
+  // project thrust onto body z axis.
+  double thrust = _vehicle_parameters_.mass * des_acceleration.dot(simulator_model_data.pose.linear().col(2));
+
+  Eigen::Vector4d angularAccelerationThrust;
+
+  angularAccelerationThrust.block<3, 1>(0, 0) = des_angular_acceleration;
+  angularAccelerationThrust(3)                = thrust;
+
+  Eigen::VectorXd rotor_velocities = angular_acc_to_rotor_velocities_ * angularAccelerationThrust;
+
+  rotor_velocities = rotor_velocities.cwiseMax(Eigen::VectorXd::Zero(rotor_velocities.rows()));
+  rotor_velocities = rotor_velocities.cwiseSqrt();
+
+  return rotor_velocities;
+}
+
+//}
+
+// | ------------------------- PRIVATE ------------------------ |
+
+/* InitializeParameters() //{ */
+
+bool SE3Controller::InitializeParameters() {
+
+  auto allocationMatrix = calculateAllocationMatrix(_vehicle_parameters_.rotorConfiguration);
+
+  if (!allocationMatrix.has_value()) {
+    // Error should already be printed by function
+    return false;
+  }
+
+  // make inertia-independent attitude gain
+  normalized_attitude_gain_ = _controller_parameters_.attitude_gain.transpose() * _vehicle_parameters_.inertia.inverse();
+
+  // make inertia-independent attitude rate gain
+  normalized_angular_rate_gain_ = _controller_parameters_.angular_rate_gain.transpose() * _vehicle_parameters_.inertia.inverse();
+
+  {  // TODO check what this really does and where it comes from
+
+    Eigen::Matrix4d moi;
+    moi.setZero();
+    moi.block<3, 3>(0, 0) = _vehicle_parameters_.inertia;
+    moi(3, 3)             = 1;
+
+    angular_acc_to_rotor_velocities_.resize(_vehicle_parameters_.rotorConfiguration.size(), 4);
+
+    const auto &aMat = *allocationMatrix;
+
+    // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
+    // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
+    angular_acc_to_rotor_velocities_ = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
+  }
+
+  return true;
+}
+
+//}
+
+/* ComputeDesiredAcceleration() //{ */
+
+Eigen::Vector3d SE3Controller::ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref,
+                                                          const Eigen::Vector3d &acc_ref) const {
+
+  // the velocity error
+  Eigen::Vector3d velocity_error = vel_ref - simulator_model_data.linearVelocityWorld;
+
+  // feedback on velocity through acceleration
+  Eigen::Vector3d feedback_a = velocity_error.cwiseProduct(_controller_parameters_.velocity_gain) / _vehicle_parameters_.mass;
+
+  // sum up the individual components: feedback + feedforward
+  Eigen::Vector3d des_accel = feedback_a + acc_ref;
+
+  // --------------------------------------------------------------
+  // |       limit the acceleration the the allowed maximum       |
+  // --------------------------------------------------------------
+  des_accel = des_accel.cwiseAbs().cwiseMin(_controller_parameters_.max_linear_acceleration).cwiseProduct(des_accel.cwiseSign());
+
+  // + gravity compensation
+  return des_accel - _vehicle_parameters_.gravity;
+}
+
+//}
+
+/* SO3Controller() //{ */
+
+Eigen::Vector3d SE3Controller::SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration, const Eigen::Vector3d &des_jerk,
+                                             const double &des_yaw_rate) const {
+
+  // current orientation
+  const Eigen::Matrix3d &R = simulator_model_data.pose.linear();
+
+  // desired force acting on the UAV
+  Eigen::Vector3d des_f      = des_acceleration * _vehicle_parameters_.mass;
+  Eigen::Vector3d des_f_norm = des_f.normalized();
+
+  // | ------- constructing the desired orientation matrix ------ |
+
+  // desired orientation
+  Eigen::Matrix3d Rd;
+
+  // b3 will will be equal to the desired force vector
+  Eigen::Vector3d b3_des = des_f_norm;
+
+  // since we don't control for desired yaw/heading, we care about maintaning the current one
+  // this can be, e.g., approximately achieved by requiring the b1 vector to stay as it is
+  Eigen::Vector3d b1_des = R.col(0);
+
+  Rd.col(2) = b3_des;
+  Rd.col(1) = Rd.col(2).cross(b1_des);
+  Rd.col(1).normalize();
+  Rd.col(0) = Rd.col(1).cross(b3_des);
+  Rd.col(0).normalize();
+
+  // orientation error
+  Eigen::Matrix3d R_e = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+
+  // orientation error vector
+  Eigen::Vector3d R_e_vec = vectorFromSkewMatrix(R_e);
+
+  // | -------------------- jerk feedforward -------------------- |
+
+  Eigen::Vector3d w_feedforward = Eigen::Vector3d(0, 0, 0);
+
+  Eigen::Matrix3d I;
+  I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+  Eigen::Vector3d desired_jerk = Eigen::Vector3d(des_jerk[0], des_jerk[1], des_jerk[2]);
+  w_feedforward                = (I.transpose() * Rd.transpose() * desired_jerk) / (des_acceleration.dot(R.col(2)));
+
+  // | ------------------ angular rate control ------------------ |
+
+  // des angular rate from the feedforward control command
+  Eigen::Vector3d des_angular_rate;
+  des_angular_rate = Eigen::Vector3d(0, 0, des_yaw_rate) + w_feedforward;
+
+  // angular rate error
+  Eigen::Vector3d w_e = simulator_model_data.angularVelocityBody - R.transpose() * Rd * des_angular_rate;
+
+  Eigen::Vector3d des_angular_acceleration = -R_e_vec.cwiseProduct(normalized_attitude_gain_) - w_e.cwiseProduct(normalized_angular_rate_gain_);
+
+  return des_angular_acceleration;
+}
+
+//}
+
+}  // namespace multicopter_control
+}  // namespace systems
+}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
+}  // namespace gazebo
+}  // namespace ignition
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
new file mode 100644
index 00000000..deb1c718
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
@@ -0,0 +1,404 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='ctu_cras_norlab_x500_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="ctu_cras_norlab_x500_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.3'/>
+      <inertia ixx='0.0316667' ixy='0' ixz='0' iyy='0.0316667' iyz='0' izz='0.0625'/>
+    </inertial>
+    <collision name='base_link_inertia_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.18 0.14 0.12'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_left_leg_clip_link_collision_1'>
+      <origin xyz='0.162635 0.162635 -0.0785' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.012' length='0.157'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_left_leg_light_link_collision_2'>
+      <origin xyz='0.159099 0.152028 -0.0785' rpy='0 -0 2.35619'/>
+      <geometry>
+        <box size='0.003 0.01 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_right_leg_clip_link_collision_3'>
+      <origin xyz='0.162635 -0.162635 -0.0785' rpy='0 0 -1.5708'/>
+      <geometry>
+        <cylinder radius='0.012' length='0.157'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_right_leg_light_link_collision_4'>
+      <origin xyz='0.159099 -0.152028 -0.0785' rpy='0 -0 0.785398'/>
+      <geometry>
+        <box size='0.003 0.01 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__os_sensor_link_collision_5'>
+      <origin xyz='0 0 0.0944' rpy='0 -0 1.5708'/>
+      <geometry>
+        <cylinder radius='0.0425' length='0.0735'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__rear_left_leg_clip_link_collision_6'>
+      <origin xyz='-0.162635 0.162635 -0.0785' rpy='0 -0 1.5708'/>
+      <geometry>
+        <cylinder radius='0.012' length='0.157'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__rear_right_leg_clip_link_collision_7'>
+      <origin xyz='-0.162635 -0.162635 -0.0785' rpy='0 0 -3.14159'/>
+      <geometry>
+        <cylinder radius='0.012' length='0.157'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__rs_up_holder_link_collision_8'>
+      <origin xyz='0.085 0 0.032' rpy='-1.5708 -0 -1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__sensor_holder_link_collision_9'>
+      <origin xyz='0 0 -0.022' rpy='1.5708 0 -1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <visual name='base_link_fixed_joint_lump__rs_up_visual_visual'>
+      <origin xyz='0.082 0 0.034' rpy='-1.5708 0 1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rs_down_visual_visual_1'>
+      <origin xyz='0.085 0 -0.02' rpy='1.5708 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__camera_front_visual_2'>
+      <origin xyz='0.107 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/bluefox.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__back_cover_link_visual_3'>
+      <origin xyz='-0.064 0 0.03' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_mrs.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__back_left_arm_link_visual_4'>
+      <origin xyz='0 0 0' rpy='0 -0 2.35619'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__back_left_rotor_link_visual_5'>
+      <origin xyz='-0.177484 0.177484 0.021' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__back_right_arm_link_visual_6'>
+      <origin xyz='0 0 0' rpy='0 0 -2.35619'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__back_right_rotor_link_visual_7'>
+      <origin xyz='-0.177484 -0.177484 0.021' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__battery_mount_left_link_visual_8'>
+      <origin xyz='-0.02 0.03 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__battery_mount_right_link_visual_9'>
+      <origin xyz='-0.02 -0.03 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_battery.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__bottom_board_link_visual_10'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__computer_board_link_visual_11'>
+      <origin xyz='0 0 0.058' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.125 0.125 0.002'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_left_arm_link_visual_12'>
+      <origin xyz='0 0 0' rpy='0 -0 0.785398'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_left_leg_clip_link_visual_13'>
+      <origin xyz='0.162635 0.162635 -0.157' rpy='0 -0 0.785398'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_left_leg_light_link_visual_14'>
+      <origin xyz='0.159099 0.152028 -0.0785' rpy='0 -0 2.35619'/>
+      <geometry>
+        <box size='0.003 0.01 0.145'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_left_rotor_link_visual_15'>
+      <origin xyz='0.177484 0.177484 0.021' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_right_arm_link_visual_16'>
+      <origin xyz='0 0 0' rpy='0 0 -0.785398'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_right_leg_clip_link_visual_17'>
+      <origin xyz='0.162635 -0.162635 -0.157' rpy='0 0 -0.785398'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_right_leg_light_link_visual_18'>
+      <origin xyz='0.159099 -0.152028 -0.0785' rpy='0 -0 0.785398'/>
+      <geometry>
+        <box size='0.003 0.01 0.145'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_right_rotor_link_visual_19'>
+      <origin xyz='0.177484 -0.177484 0.021' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__left_cover_link_visual_20'>
+      <origin xyz='0 0.064 0.03' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__os_sensor_link_visual_21'>
+      <origin xyz='0 0 0.06' rpy='0 -0 1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__os_sensor_window_link_visual_22'>
+      <origin xyz='0 0 0.0944' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.038' length='0.035'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__pc_mount_link_visual_23'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__pixhawk_link_visual_24'>
+      <origin xyz='0 0 0.036' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rear_left_leg_clip_link_visual_25'>
+      <origin xyz='-0.162635 0.162635 -0.157' rpy='0 -0 2.35619'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rear_right_leg_clip_link_visual_26'>
+      <origin xyz='-0.162635 -0.162635 -0.157' rpy='0 0 -2.35619'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__right_cover_link_visual_27'>
+      <origin xyz='0 -0.064 0.03' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rs_up_holder_link_visual_28'>
+      <origin xyz='0.085 0 0.032' rpy='-1.5708 -0 -1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_29'>
+      <origin xyz='0 0 -0.022' rpy='1.5708 0 -1.5708'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='front_laser' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0.0944' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='rs_up' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.82 0 0.034' rpy='0 -1.5708 0'/>
+    <camera>
+      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='rs_down' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.85 0 -0.2' rpy='0 1.5708 0'/>
+    <camera>
+      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_front' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.107 0 0' rpy='0 -0 0'/>
+    <camera>
+      <image width='1280' height='960' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='imu_sensor' update_rate='250'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/imu_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.015'/>
+      <inertia ixx='1e-05' ixy='0' ixz='0' iyy='1e-05' iyz='0' izz='1e-05'/>
+    </inertial>
+  </link>
+  <link name='${robot_namespace}/rotor_0'>
+    <inertial>
+      <origin xyz='-0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
+    </inertial>
+    <collision name='rotor_0_collision'>
+      <origin xyz='-0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.127' length='0.005'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_0_visual'>
+      <origin xyz='-0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_1'>
+    <inertial>
+      <origin xyz='0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
+    </inertial>
+    <collision name='rotor_1_collision'>
+      <origin xyz='0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.127' length='0.005'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_1_visual'>
+      <origin xyz='0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_2'>
+    <inertial>
+      <origin xyz='-0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
+    </inertial>
+    <collision name='rotor_2_collision'>
+      <origin xyz='-0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.127' length='0.005'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_2_visual'>
+      <origin xyz='-0.177484 -0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae' scale='-1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rotor_3'>
+    <inertial>
+      <origin xyz='0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='0.0001' ixy='0' ixz='0' iyy='0.0001' iyz='0' izz='0.0001'/>
+    </inertial>
+    <collision name='rotor_3_collision'>
+      <origin xyz='0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.127' length='0.005'/>
+      </geometry>
+    </collision>
+    <visual name='rotor_3_visual'>
+      <origin xyz='0.177484 0.177484 -0.057' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_prop.dae' scale='-1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='imu_joint' type='revolute'>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/imu_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='1 0 0'/>
+    <limit lower='0' upper='0' effort='0' velocity='0'/>
+  </joint>
+  <joint name='rotor_0_joint' type='revolute'>
+    <origin xyz='0.177484 -0.177484 0.057' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_0'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_1_joint' type='revolute'>
+    <origin xyz='-0.177484 0.177484 0.057' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_1'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_2_joint' type='revolute'>
+    <origin xyz='0.177484 0.177484 0.057' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_2'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rotor_3_joint' type='revolute'>
+    <origin xyz='-0.177484 -0.177484 0.057' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rotor_3'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>

From 3933fd5a2b67cb31b5d524b05d32d07e747f30f4 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 9 Mar 2021 01:35:03 +0100
Subject: [PATCH 09/22] Fix path to mesh in URDF

---
 .../ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
index deb1c718..cbba5ff1 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
@@ -71,13 +71,13 @@
     <visual name='base_link_fixed_joint_lump__rs_up_visual_visual'>
       <origin xyz='0.082 0 0.034' rpy='-1.5708 0 1.5708'/>
       <geometry>
-        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae' scale='1 1 1'/>
       </geometry>
     </visual>
     <visual name='base_link_fixed_joint_lump__rs_down_visual_visual_1'>
       <origin xyz='0.085 0 -0.02' rpy='1.5708 -0 1.5708'/>
       <geometry>
-        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+        <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/realsense.dae' scale='1 1 1'/>
       </geometry>
     </visual>
     <visual name='base_link_fixed_joint_lump__camera_front_visual_2'>

From 663df4a3c7bc48a3d2d0d9dc93e5e3dcfba87339 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 9 Mar 2021 01:36:41 +0100
Subject: [PATCH 10/22] Fix spawning the UAV in example world

---
 .../ctu_cras_norlab_x500_sensor_config_1/launch/example.ign   | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
index 07d80c2d..5658d1b8 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/example.ign
@@ -163,7 +163,11 @@
   </executable_wrapper>
   <%end%>
 
+<plugin name="ignition::launch::GazeboFactory"
+        filename="libignition-launch-gazebo-factory.so">
 <%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %>
+</plugin>
+   
 <%= rosExecutables(robotName, $worldName) %>
  
 </ignition>

From aa7eab557a8c6037a6ff5b2d7eb4f53d1e2f0319 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Tue, 9 Mar 2021 08:35:48 +0100
Subject: [PATCH 11/22] changed imu_joint to fixed

---
 submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf | 2 +-
 .../ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 50b616d7..e785d661 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -678,7 +678,7 @@
         </geometry>
       </visual>
     </link>
-    <joint name='imu_joint' type='revolute'>
+    <joint name='imu_joint' type='fixed'>
       <pose relative_to='base_link'>0 0 0 0 -0 0</pose>
       <parent>base_link</parent>
       <child>imu_link</child>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
index deb1c718..d91b5c74 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
@@ -361,7 +361,7 @@
       </geometry>
     </visual>
   </link>
-  <joint name='imu_joint' type='revolute'>
+  <joint name='imu_joint' type='fixed'>
     <origin xyz='0 0 0' rpy='0 -0 0'/>
     <parent link='${robot_namespace}/base_link'/>
     <child link='${robot_namespace}/imu_link'/>

From 0aae0698a586bca5cb407e6e7cb5d407f21c6270 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Thu, 11 Mar 2021 08:39:43 +0100
Subject: [PATCH 12/22] changed camera_front, rs_up, rs_down paremeters to real
 sensors' values

---
 .../model.config                              |  2 +-
 .../model.sdf                                 | 60 +++++++++----------
 .../package.xml                               |  2 +-
 .../specifications.md                         |  9 ++-
 4 files changed, 36 insertions(+), 37 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
index 87f775bb..ddcf060b 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.config
@@ -16,7 +16,7 @@
     - 3D medium range lidar Ouster OS0-64
     - upward Intel Realsense D435 (RGBD camera)
     - downward Intel Realsense D435 (RGBD camera)
-    - standard SubT wide HD RGB camera
+    - frontward Basler dart daA1600-60um with DSL165A lens (RGB camera)
     - standard SubT IMU 
   </description>
 </model>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index e785d661..55ef4a50 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -37,18 +37,18 @@
     <sensor name="rs_up" type="rgbd_camera">
         <pose>0.82 0 0.034 0 -1.57079632679 0</pose>
         <always_on>1</always_on>
-        <update_rate>20</update_rate>
+        <update_rate>30</update_rate>
         <camera name="rs_up">
-            <horizontal_fov>1.0472</horizontal_fov>
+            <horizontal_fov>1.50098</horizontal_fov>
             <lens>
                 <intrinsics>
                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>554.25469</fx>
-                    <fy>554.25469</fy>
-                    <!-- cx = ( width + 1 ) / 2 -->
-                    <cx>320.5</cx>
-                    <!-- cy = ( height + 1 ) / 2 -->
-                    <cy>240.5</cy>
+                    <fx>686.32</fx>
+                    <fy>686.32</fy>
+                    <!-- cx = ( width - 1 ) / 2 -->
+                    <cx>639.5</cx>
+                    <!-- cy = ( height - 1 ) / 2 -->
+                    <cy>359.5</cy>
                     <s>0</s>
                 </intrinsics>
             </lens>
@@ -61,8 +61,8 @@
                 <center>0.5 0.5</center>
             </distortion>
             <image>
-                <width>640</width>
-                <height>480</height>
+                <width>1280</width>
+                <height>720</height>
                 <format>R8G8B8</format>
             </image>
             <clip>
@@ -86,18 +86,18 @@
     <sensor name="rs_down" type="rgbd_camera">
         <pose>0.85 0 -0.20 0 1.57079632679 0</pose>
         <always_on>1</always_on>
-        <update_rate>20</update_rate>
+        <update_rate>30</update_rate>
         <camera name="rs_down">
-            <horizontal_fov>1.0472</horizontal_fov>
+            <horizontal_fov>1.50098</horizontal_fov>
             <lens>
                 <intrinsics>
                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>554.25469</fx>
-                    <fy>554.25469</fy>
-                    <!-- cx = ( width + 1 ) / 2 -->
-                    <cx>320.5</cx>
-                    <!-- cy = ( height + 1 ) / 2 -->
-                    <cy>240.5</cy>
+                    <fx>686.32</fx>
+                    <fy>686.32</fy>
+                    <!-- cx = ( width - 1 ) / 2 -->
+                    <cx>639.5</cx>
+                    <!-- cy = ( height - 1 ) / 2 -->
+                    <cy>359.5</cy>
                     <s>0</s>
                 </intrinsics>
             </lens>
@@ -110,8 +110,8 @@
                 <center>0.5 0.5</center>
             </distortion>
             <image>
-                <width>640</width>
-                <height>480</height>
+                <width>1280</width>
+                <height>720</height>
                 <format>R8G8B8</format>
             </image>
             <clip>
@@ -135,18 +135,18 @@
     <sensor name="camera_front" type="camera">
         <pose>0.107 0 0.0 0 0 0</pose>
         <always_on>1</always_on>
-        <update_rate>20</update_rate>
+        <update_rate>60</update_rate>
         <camera name="camera_front">
-            <horizontal_fov>1.0472</horizontal_fov>
+            <horizontal_fov>1.74533</horizontal_fov>
             <lens>
                 <intrinsics>
                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>1108.5</fx>
-                    <fy>1108.5</fy>
-                    <!-- cx = ( width + 1 ) / 2 -->
-                    <cx>640.5</cx>
-                    <!-- cy = ( height + 1 ) / 2 -->
-                    <cy>480.5</cy>
+                    <fx>671.28</fx>
+                    <fy>671.28</fy>
+                    <!-- cx = ( width - 1 ) / 2 -->
+                    <cx>839.5</cx>
+                    <!-- cy = ( height - 1 ) / 2 -->
+                    <cy>599.5</cy>
                     <s>0</s>
                 </intrinsics>
             </lens>
@@ -159,8 +159,8 @@
                 <center>0.5 0.5</center>
             </distortion>
             <image>
-                <width>1280</width>
-                <height>960</height>
+                <width>1600</width>
+                <height>1200</height>
                 <format>R8G8B8</format>
             </image>
             <clip>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
index 0d5d437a..33d9aaf3 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/package.xml
@@ -8,7 +8,7 @@
     - 3D medium range lidar Ouster OS0-64
     - upward Intel Realsense D435 (RGBD camera)
     - downward Intel Realsense D435 (RGBD camera)
-    - standard SubT wide HD RGB camera
+    - frontward Basler dart daA1600-60um with DSL165A lens (RGB camera)
     - standard SubT IMU 
   </description>
   <author email="matej.petrlik@fel.cvut.cz">Matej Petrlik</author>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
index d0d28619..ec979b45 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
@@ -19,7 +19,7 @@ The CTU-CRAS-NORLAB's X500 UAV  has an estimated commercial cost of 12500 USD.
 It weights approximately 3.3 kg.
 
 ## Sensors
-This X500 with sensor configuration Sensor Configu 1 includes the following sensors. 
+This X500 with sensor configuration Sensor Config 1 includes the following sensors. 
 The specifications of the sensors are provided below in
 the [Validation Links](#validation_links) section.
 
@@ -27,7 +27,7 @@ The following specific sensors are declared payloads of this vehicle:
 
 * 2x RGBD camera - Intel Realsense D435i, modeled by `rgbd_camera` plugin.
 * 1x 3D medium range LiDAR - Ouster OS0-64, modeled by `gpu_lidar` plugin.
-* 1x HD wide camera with standard SubT specification, modeled by `camera` plugin.
+* 1x HD wide camera - Basler dart daA1600-60um with DSL165A lens, modeled by `camera` plugin.
 * 1x IMU with standard SubT specification, modeled by `imu` plugin.
 
 ## Control
@@ -54,9 +54,6 @@ Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guid
 
 ## Diversions from Physical Hardware
 Virtual X500 is a faithful representation of real-world X500 with few diversions:
-* Front RGB Camera
-  * Real-world: [mvBlueFOX-MLC 200w](https://www.matrix-vision.com/USB2.0-single-board-camera-mvbluefox-mlc.html) soon to be upgraded to [daA1600-60um](https://www.baslerweb.com/en/products/cameras/area-scan-cameras/dart/daa1600-60um-s-mount/ )
-  * Virtual: HD wide camera from the [subt repository](https://github.com/osrf/subt/wiki/api#sensors)
 * IMU:
   * Real-world: we are using the IMU from [Pixhawk4 FCU](https://docs.px4.io/master/en/flight_controller/pixhawk4.html#quick-summary)
   * Virtual: IMU from the [subt repository](https://github.com/osrf/subt/wiki/api#sensors)
@@ -68,6 +65,8 @@ Virtual X500 is a faithful representation of real-world X500 with few diversions
   * [Batteries](https://www.professional-multirotors.com/product/tattu-6750mah-14-8v-25c-4s1p-lipo-battery-99wh/)
 * Sensor specification links:
   * [Intel Realsense D435](https://www.intelrealsense.com/depth-camera-d435/)
+  * [Basler dart daA1600-60um](https://www.baslerweb.com/en/products/cameras/area-scan-cameras/dart/daa1600-60um-s-mount/)
+  * [DSL165a lens](https://www.framos.com/en/dsl165a-nir-f1.6-22853)
   * [Ouster OS0-64 LiDAR](https://data.ouster.io/downloads/datasheets/datasheet-revd-v2p0-os0.pdf)
 * Motion validation links
   * [Unedited video](https://www.youtube.com/watch?v=ilg0HgWysHg)

From 321a49f9479320e9c464dde7001bfc8cb77005d8 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 12 Mar 2021 10:53:51 +0100
Subject: [PATCH 13/22] changed horizontal lidar angle range to avoid glitches

---
 .../ctu_cras_norlab_x500_sensor_config_1/model.sdf            | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 55ef4a50..39a6d655 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -11,8 +11,8 @@
           <horizontal>
             <samples>1024</samples>
             <resolution>1</resolution>
-            <min_angle>0</min_angle>
-            <max_angle>6.28318530718</max_angle>
+            <min_angle>-3.14159</min_angle>
+            <max_angle>3.14159</max_angle>
           </horizontal>
           <vertical>
             <samples>64</samples>

From 815b23207a612c66c21da3de0606a6bf01c7bae5 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 12 Mar 2021 11:56:33 +0100
Subject: [PATCH 14/22] addded top and bottom lights

---
 .../model.sdf                                 | 143 ++++++++++++++----
 .../urdf/model.xacro                          |  80 ++++++----
 2 files changed, 167 insertions(+), 56 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 39a6d655..a2c85681 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -284,6 +284,43 @@
       </spot>
       <direction>1 0 0</direction>
     </light>
+
+    <light name="top_light" type="spot">
+      <pose>0.05 0 0.059 0 3.14159 0</pose>
+      <attenuation>
+        <range>50</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.0025</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>2.8</inner_angle>
+        <outer_angle>2.9</outer_angle>
+        <falloff>1</falloff>
+      </spot>
+      <direction>1 0 0</direction>
+    </light>
+
+    <light name="bottom_light" type="spot">
+      <pose>0.03 0 -0.05 0 0 0</pose>
+      <attenuation>
+        <range>50</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.0025</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>2.8</inner_angle>
+        <outer_angle>2.9</outer_angle>
+        <falloff>1</falloff>
+      </spot>
+      <direction>1 0 0</direction>
+    </light>
+
       <inertial>
         <pose>0 0 0 0 -0 0</pose>
         <mass>3.3</mass>
@@ -304,7 +341,23 @@
           </box>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__front_left_leg_clip_link_collision_1'>
+      <collision name='base_link_fixed_joint_lump__bottom_light_link_collision_1'>
+        <pose>0.03 0 -0.05 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.1 0.003</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='base_link_fixed_joint_lump__top_light_link_collision_2'>
+        <pose>0.05 0 0.059 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.1 0.003</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name='base_link_fixed_joint_lump__front_left_leg_clip_link_collision_3'>
         <pose>0.162635 0.162635 -0.0785 0 -0 0</pose>
         <geometry>
           <cylinder>
@@ -313,7 +366,7 @@
           </cylinder>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__front_left_leg_light_link_collision_2'>
+      <collision name='base_link_fixed_joint_lump__front_left_leg_light_link_collision_4'>
         <pose>0.159099 0.152028 -0.0785 0 -0 2.35619</pose>
         <geometry>
           <box>
@@ -321,7 +374,7 @@
           </box>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__front_right_leg_clip_link_collision_3'>
+      <collision name='base_link_fixed_joint_lump__front_right_leg_clip_link_collision_5'>
         <pose>0.162635 -0.162635 -0.0785 0 0 -1.5708</pose>
         <geometry>
           <cylinder>
@@ -330,7 +383,7 @@
           </cylinder>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__front_right_leg_light_link_collision_4'>
+      <collision name='base_link_fixed_joint_lump__front_right_leg_light_link_collision_6'>
         <pose>0.159099 -0.152028 -0.0785 0 -0 0.785398</pose>
         <geometry>
           <box>
@@ -338,7 +391,7 @@
           </box>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__os_sensor_link_collision_5'>
+      <collision name='base_link_fixed_joint_lump__os_sensor_link_collision_7'>
         <pose>0 0 0.0944 0 -0 1.5708</pose>
         <geometry>
           <cylinder>
@@ -347,7 +400,7 @@
           </cylinder>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__rear_left_leg_clip_link_collision_6'>
+      <collision name='base_link_fixed_joint_lump__rear_left_leg_clip_link_collision_8'>
         <pose>-0.162635 0.162635 -0.0785 0 -0 1.5708</pose>
         <geometry>
           <cylinder>
@@ -356,7 +409,7 @@
           </cylinder>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__rear_right_leg_clip_link_collision_7'>
+      <collision name='base_link_fixed_joint_lump__rear_right_leg_clip_link_collision_9'>
         <pose>-0.162635 -0.162635 -0.0785 0 0 -3.14159</pose>
         <geometry>
           <cylinder>
@@ -365,7 +418,7 @@
           </cylinder>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__rs_up_holder_link_collision_8'>
+      <collision name='base_link_fixed_joint_lump__rs_up_holder_link_collision_10'>
         <pose>0.085 0 0.032 -1.5708 -0 -1.5708</pose>
         <geometry>
           <mesh>
@@ -374,7 +427,7 @@
           </mesh>
         </geometry>
       </collision>
-      <collision name='base_link_fixed_joint_lump__sensor_holder_link_collision_9'>
+      <collision name='base_link_fixed_joint_lump__sensor_holder_link_collision_11'>
         <pose>0 0 -0.022 1.5708 0 -1.5708</pose>
         <geometry>
           <mesh>
@@ -491,7 +544,24 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__computer_board_link_visual_11'>
+      <visual name='base_link_fixed_joint_lump__bottom_light_link_visual_11'>
+        <pose>0.03 0 -0.05 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.1 0.003</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0 1.0</specular>
+          <script>
+            <name>Gazebo/White</name>
+            <uri>materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='base_link_fixed_joint_lump__computer_board_link_visual_12'>
         <pose>0 0 0.058 0 -0 0</pose>
         <geometry>
           <box>
@@ -499,7 +569,24 @@
           </box>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_left_arm_link_visual_12'>
+      <visual name='base_link_fixed_joint_lump__top_light_link_visual_13'>
+        <pose>0.05 0 0.059 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.1 0.003</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0 1.0</specular>
+          <script>
+            <name>Gazebo/White</name>
+            <uri>materials/scripts/gazebo.material</uri>
+          </script>
+        </material>
+      </visual>
+      <visual name='base_link_fixed_joint_lump__front_left_arm_link_visual_14'>
         <pose>0 0 0 0 -0 0.785398</pose>
         <geometry>
           <mesh>
@@ -508,7 +595,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_left_leg_clip_link_visual_13'>
+      <visual name='base_link_fixed_joint_lump__front_left_leg_clip_link_visual_15'>
         <pose>0.162635 0.162635 -0.157 0 -0 0.785398</pose>
         <geometry>
           <mesh>
@@ -517,7 +604,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_left_leg_light_link_visual_14'>
+      <visual name='base_link_fixed_joint_lump__front_left_leg_light_link_visual_16'>
         <pose>0.159099 0.152028 -0.0785 0 -0 2.35619</pose>
         <geometry>
           <box>
@@ -534,7 +621,7 @@
           </script>
         </material>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_left_rotor_link_visual_15'>
+      <visual name='base_link_fixed_joint_lump__front_left_rotor_link_visual_17'>
         <pose>0.177484 0.177484 0.021 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -543,7 +630,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_right_arm_link_visual_16'>
+      <visual name='base_link_fixed_joint_lump__front_right_arm_link_visual_18'>
         <pose>0 0 0 0 0 -0.785398</pose>
         <geometry>
           <mesh>
@@ -552,7 +639,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_right_leg_clip_link_visual_17'>
+      <visual name='base_link_fixed_joint_lump__front_right_leg_clip_link_visual_19'>
         <pose>0.162635 -0.162635 -0.157 0 0 -0.785398</pose>
         <geometry>
           <mesh>
@@ -561,7 +648,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_right_leg_light_link_visual_18'>
+      <visual name='base_link_fixed_joint_lump__front_right_leg_light_link_visual_20'>
         <pose>0.159099 -0.152028 -0.0785 0 -0 0.785398</pose>
         <geometry>
           <box>
@@ -578,7 +665,7 @@
           </script>
         </material>
       </visual>
-      <visual name='base_link_fixed_joint_lump__front_right_rotor_link_visual_19'>
+      <visual name='base_link_fixed_joint_lump__front_right_rotor_link_visual_21'>
         <pose>0.177484 -0.177484 0.021 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -587,7 +674,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__left_cover_link_visual_20'>
+      <visual name='base_link_fixed_joint_lump__left_cover_link_visual_22'>
         <pose>0 0.064 0.03 0 0 -3.14159</pose>
         <geometry>
           <mesh>
@@ -596,7 +683,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__os_sensor_link_visual_21'>
+      <visual name='base_link_fixed_joint_lump__os_sensor_link_visual_23'>
         <pose>0 0 0.06 0 -0 1.5708</pose>
         <geometry>
           <mesh>
@@ -605,7 +692,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__os_sensor_window_link_visual_22'>
+      <visual name='base_link_fixed_joint_lump__os_sensor_window_link_visual_24'>
         <pose>0 0 0.0944 0 -0 0</pose>
         <geometry>
           <cylinder>
@@ -614,7 +701,7 @@
           </cylinder>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__pc_mount_link_visual_23'>
+      <visual name='base_link_fixed_joint_lump__pc_mount_link_visual_25'>
         <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -623,7 +710,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__pixhawk_link_visual_24'>
+      <visual name='base_link_fixed_joint_lump__pixhawk_link_visual_26'>
         <pose>0 0 0.036 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -632,7 +719,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__rear_left_leg_clip_link_visual_25'>
+      <visual name='base_link_fixed_joint_lump__rear_left_leg_clip_link_visual_27'>
         <pose>-0.162635 0.162635 -0.157 0 -0 2.35619</pose>
         <geometry>
           <mesh>
@@ -641,7 +728,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__rear_right_leg_clip_link_visual_26'>
+      <visual name='base_link_fixed_joint_lump__rear_right_leg_clip_link_visual_28'>
         <pose>-0.162635 -0.162635 -0.157 0 0 -2.35619</pose>
         <geometry>
           <mesh>
@@ -650,7 +737,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__right_cover_link_visual_27'>
+      <visual name='base_link_fixed_joint_lump__right_cover_link_visual_29'>
         <pose>0 -0.064 0.03 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -659,7 +746,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__rs_up_holder_link_visual_28'>
+      <visual name='base_link_fixed_joint_lump__rs_up_holder_link_visual_30'>
         <pose>0.085 0 0.032 -1.5708 -0 -1.5708</pose>
         <geometry>
           <mesh>
@@ -668,7 +755,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_29'>
+      <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_31'>
         <pose>0 0 -0.022 1.5708 0 -1.5708</pose>
         <geometry>
           <mesh>
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
index 4c55ab67..08510bbd 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
@@ -14,55 +14,67 @@
         <box size='0.18 0.14 0.12'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__front_left_leg_clip_link_collision_1'>
+    <collision name='base_link_fixed_joint_lump__bottom_light_link_collision_1'>
+      <origin xyz='0.03 0 -0.05' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.1 0.003'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__top_light_link_collision_2'>
+      <origin xyz='0.05 0 0.059' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.1 0.003'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_left_leg_clip_link_collision_3'>
       <origin xyz='0.162635 0.162635 -0.0785' rpy='0 -0 0'/>
       <geometry>
         <cylinder radius='0.012' length='0.157'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__front_left_leg_light_link_collision_2'>
+    <collision name='base_link_fixed_joint_lump__front_left_leg_light_link_collision_4'>
       <origin xyz='0.159099 0.152028 -0.0785' rpy='0 -0 2.35619'/>
       <geometry>
         <box size='0.003 0.01 0.145'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__front_right_leg_clip_link_collision_3'>
+    <collision name='base_link_fixed_joint_lump__front_right_leg_clip_link_collision_5'>
       <origin xyz='0.162635 -0.162635 -0.0785' rpy='0 0 -1.5708'/>
       <geometry>
         <cylinder radius='0.012' length='0.157'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__front_right_leg_light_link_collision_4'>
+    <collision name='base_link_fixed_joint_lump__front_right_leg_light_link_collision_6'>
       <origin xyz='0.159099 -0.152028 -0.0785' rpy='0 -0 0.785398'/>
       <geometry>
         <box size='0.003 0.01 0.145'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__os_sensor_link_collision_5'>
+    <collision name='base_link_fixed_joint_lump__os_sensor_link_collision_7'>
       <origin xyz='0 0 0.0944' rpy='0 -0 1.5708'/>
       <geometry>
         <cylinder radius='0.0425' length='0.0735'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__rear_left_leg_clip_link_collision_6'>
+    <collision name='base_link_fixed_joint_lump__rear_left_leg_clip_link_collision_8'>
       <origin xyz='-0.162635 0.162635 -0.0785' rpy='0 -0 1.5708'/>
       <geometry>
         <cylinder radius='0.012' length='0.157'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__rear_right_leg_clip_link_collision_7'>
+    <collision name='base_link_fixed_joint_lump__rear_right_leg_clip_link_collision_9'>
       <origin xyz='-0.162635 -0.162635 -0.0785' rpy='0 0 -3.14159'/>
       <geometry>
         <cylinder radius='0.012' length='0.157'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__rs_up_holder_link_collision_8'>
+    <collision name='base_link_fixed_joint_lump__rs_up_holder_link_collision_10'>
       <origin xyz='0.085 0 0.032' rpy='-1.5708 -0 -1.5708'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae' scale='1 1 1'/>
       </geometry>
     </collision>
-    <collision name='base_link_fixed_joint_lump__sensor_holder_link_collision_9'>
+    <collision name='base_link_fixed_joint_lump__sensor_holder_link_collision_11'>
       <origin xyz='0 0 -0.022' rpy='1.5708 0 -1.5708'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae' scale='1 1 1'/>
@@ -134,115 +146,127 @@
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_bottom_board.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__computer_board_link_visual_11'>
+    <visual name='base_link_fixed_joint_lump__bottom_light_link_visual_11'>
+      <origin xyz='0.03 0 -0.05' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.1 0.003'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__computer_board_link_visual_12'>
       <origin xyz='0 0 0.058' rpy='0 -0 0'/>
       <geometry>
         <box size='0.125 0.125 0.002'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_left_arm_link_visual_12'>
+    <visual name='base_link_fixed_joint_lump__top_light_link_visual_13'>
+      <origin xyz='0.05 0 0.059' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.1 0.003'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_left_arm_link_visual_14'>
       <origin xyz='0 0 0' rpy='0 -0 0.785398'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_left_leg_clip_link_visual_13'>
+    <visual name='base_link_fixed_joint_lump__front_left_leg_clip_link_visual_15'>
       <origin xyz='0.162635 0.162635 -0.157' rpy='0 -0 0.785398'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_left_leg_light_link_visual_14'>
+    <visual name='base_link_fixed_joint_lump__front_left_leg_light_link_visual_16'>
       <origin xyz='0.159099 0.152028 -0.0785' rpy='0 -0 2.35619'/>
       <geometry>
         <box size='0.003 0.01 0.145'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_left_rotor_link_visual_15'>
+    <visual name='base_link_fixed_joint_lump__front_left_rotor_link_visual_17'>
       <origin xyz='0.177484 0.177484 0.021' rpy='0 -0 0'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_right_arm_link_visual_16'>
+    <visual name='base_link_fixed_joint_lump__front_right_arm_link_visual_18'>
       <origin xyz='0 0 0' rpy='0 0 -0.785398'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_arm.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_right_leg_clip_link_visual_17'>
+    <visual name='base_link_fixed_joint_lump__front_right_leg_clip_link_visual_19'>
       <origin xyz='0.162635 -0.162635 -0.157' rpy='0 0 -0.785398'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_right_leg_light_link_visual_18'>
+    <visual name='base_link_fixed_joint_lump__front_right_leg_light_link_visual_20'>
       <origin xyz='0.159099 -0.152028 -0.0785' rpy='0 -0 0.785398'/>
       <geometry>
         <box size='0.003 0.01 0.145'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__front_right_rotor_link_visual_19'>
+    <visual name='base_link_fixed_joint_lump__front_right_rotor_link_visual_21'>
       <origin xyz='0.177484 -0.177484 0.021' rpy='0 -0 0'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_motor.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__left_cover_link_visual_20'>
+    <visual name='base_link_fixed_joint_lump__left_cover_link_visual_22'>
       <origin xyz='0 0.064 0.03' rpy='0 0 -3.14159'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__os_sensor_link_visual_21'>
+    <visual name='base_link_fixed_joint_lump__os_sensor_link_visual_23'>
       <origin xyz='0 0 0.06' rpy='0 -0 1.5708'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/os1_64.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__os_sensor_window_link_visual_22'>
+    <visual name='base_link_fixed_joint_lump__os_sensor_window_link_visual_24'>
       <origin xyz='0 0 0.0944' rpy='0 -0 0'/>
       <geometry>
         <cylinder radius='0.038' length='0.035'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__pc_mount_link_visual_23'>
+    <visual name='base_link_fixed_joint_lump__pc_mount_link_visual_25'>
       <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_pc_mount.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__pixhawk_link_visual_24'>
+    <visual name='base_link_fixed_joint_lump__pixhawk_link_visual_26'>
       <origin xyz='0 0 0.036' rpy='0 -0 0'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/sensors/pixhawk.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__rear_left_leg_clip_link_visual_25'>
+    <visual name='base_link_fixed_joint_lump__rear_left_leg_clip_link_visual_27'>
       <origin xyz='-0.162635 0.162635 -0.157' rpy='0 -0 2.35619'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__rear_right_leg_clip_link_visual_26'>
+    <visual name='base_link_fixed_joint_lump__rear_right_leg_clip_link_visual_28'>
       <origin xyz='-0.162635 -0.162635 -0.157' rpy='0 0 -2.35619'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holybro/holybro_x500_leg.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__right_cover_link_visual_27'>
+    <visual name='base_link_fixed_joint_lump__right_cover_link_visual_29'>
       <origin xyz='0 -0.064 0.03' rpy='0 -0 0'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/side_ctu.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__rs_up_holder_link_visual_28'>
+    <visual name='base_link_fixed_joint_lump__rs_up_holder_link_visual_30'>
       <origin xyz='0.085 0 0.032' rpy='-1.5708 -0 -1.5708'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_up.dae' scale='1 1 1'/>
       </geometry>
     </visual>
-    <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_29'>
+    <visual name='base_link_fixed_joint_lump__sensor_holder_link_visual_31'>
       <origin xyz='0 0 -0.022' rpy='1.5708 0 -1.5708'/>
       <geometry>
         <mesh filename='package://ctu_cras_norlab_x500_sensor_config_1/meshes/holders/holder_rs_down_bfox.dae' scale='1 1 1'/>

From 1cc99e7ae20286de906ff11274ba4562a396168c Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 12 Mar 2021 11:57:05 +0100
Subject: [PATCH 15/22] updated sensor parameters in model.xacro to match
 model.sdf

---
 .../urdf/model.xacro                                   | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
index 08510bbd..12312419 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/urdf/model.xacro
@@ -277,25 +277,25 @@
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0 0 0.0944' rpy='0 -0 0'/>
   </sensor>
-  <sensor name='rs_up' update_rate='20'>
+  <sensor name='rs_up' update_rate='30'>
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0.82 0 0.034' rpy='0 -1.5708 0'/>
     <camera>
-      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+      <image width='1280' height='720' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='rs_down' update_rate='20'>
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0.85 0 -0.2' rpy='0 1.5708 0'/>
     <camera>
-      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+      <image width='1280' height='720' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
     </camera>
   </sensor>
-  <sensor name='camera_front' update_rate='20'>
+  <sensor name='camera_front' update_rate='60'>
     <parent link='${robot_namespace}/base_link'/>
     <origin xyz='0.107 0 0' rpy='0 -0 0'/>
     <camera>
-      <image width='1280' height='960' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+      <image width='1600' height='1200' format='R8G8B8' hfov='1.74533' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='imu_sensor' update_rate='250'>

From dc26c40c5d3405a517a2995980e029f1696d3d34 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 12 Mar 2021 11:58:33 +0100
Subject: [PATCH 16/22] fixed sensors indentation

---
 .../model.sdf                                 | 619 +++++++++---------
 1 file changed, 311 insertions(+), 308 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index a2c85681..7109bfa6 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -3,323 +3,326 @@
   <model name='ctu_cras_norlab_x500_sensor_config_1'>
     <link name='base_link'>
 
-    <sensor name="front_laser" type="gpu_lidar">
-      <pose>0 0 0.0944 0 0 0</pose>
-      <update_rate>20</update_rate>
-      <lidar>
-        <scan>
-          <horizontal>
-            <samples>1024</samples>
-            <resolution>1</resolution>
-            <min_angle>-3.14159</min_angle>
-            <max_angle>3.14159</max_angle>
-          </horizontal>
-          <vertical>
-            <samples>64</samples>
-            <resolution>1</resolution>
-            <min_angle>-0.785398163397</min_angle>
-            <max_angle>0.785398163397</max_angle>
-          </vertical>
-        </scan>
-        <range>
-          <min>0.1</min>
-          <max>50</max>
-          <resolution>0.003</resolution>
-        </range>
-        <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.03</stddev>
-        </noise>
-      </lidar>
-    </sensor>
+      <sensor name="front_laser" type="gpu_lidar">
+        <pose>0 0 0.0944 0 0 0</pose>
+        <update_rate>20</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1024</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.14159</min_angle>
+              <max_angle>3.14159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>64</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.785398163397</min_angle>
+              <max_angle>0.785398163397</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.1</min>
+            <max>50</max>
+            <resolution>0.003</resolution>
+          </range>
+          <noise>
+              <type>gaussian</type>
+              <mean>0</mean>
+              <stddev>0.03</stddev>
+          </noise>
+        </lidar>
+      </sensor>
 
-    <sensor name="rs_up" type="rgbd_camera">
-        <pose>0.82 0 0.034 0 -1.57079632679 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="rs_up">
-            <horizontal_fov>1.50098</horizontal_fov>
-            <lens>
-                <intrinsics>
-                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>686.32</fx>
-                    <fy>686.32</fy>
-                    <!-- cx = ( width - 1 ) / 2 -->
-                    <cx>639.5</cx>
-                    <!-- cy = ( height - 1 ) / 2 -->
-                    <cy>359.5</cy>
-                    <s>0</s>
-                </intrinsics>
-            </lens>
-            <distortion>
-                <k1>0.0</k1>
-                <k2>0.0</k2>
-                <k3>0.0</k3>
-                <p1>0.0</p1>
-                <p2>0.0</p2>
-                <center>0.5 0.5</center>
-            </distortion>
-            <image>
-                <width>1280</width>
-                <height>720</height>
-                <format>R8G8B8</format>
-            </image>
-            <clip>
-                <near>0.01</near>
-                <far>300</far>
-            </clip>
-            <depth_camera>
+      <sensor name="rs_up" type="rgbd_camera">
+          <pose>0.82 0 0.034 0 -1.57079632679 0</pose>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <camera name="rs_up">
+              <horizontal_fov>1.50098</horizontal_fov>
+              <lens>
+                  <intrinsics>
+                      <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                      <fx>686.32</fx>
+                      <fy>686.32</fy>
+                      <!-- cx = ( width - 1 ) / 2 -->
+                      <cx>639.5</cx>
+                      <!-- cy = ( height - 1 ) / 2 -->
+                      <cy>359.5</cy>
+                      <s>0</s>
+                  </intrinsics>
+              </lens>
+              <distortion>
+                  <k1>0.0</k1>
+                  <k2>0.0</k2>
+                  <k3>0.0</k3>
+                  <p1>0.0</p1>
+                  <p2>0.0</p2>
+                  <center>0.5 0.5</center>
+              </distortion>
+              <image>
+                  <width>1280</width>
+                  <height>720</height>
+                  <format>R8G8B8</format>
+              </image>
               <clip>
-                <near>0.1</near>
-                <far>10</far>
+                  <near>0.01</near>
+                  <far>300</far>
               </clip>
-            </depth_camera>
-            <noise>
-                <type>gaussian</type>
-                <mean>0</mean>
-                <stddev>0.007</stddev>
-            </noise>
-        </camera>
-    </sensor>
+              <depth_camera>
+                <clip>
+                  <near>0.1</near>
+                  <far>10</far>
+                </clip>
+              </depth_camera>
+              <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.007</stddev>
+              </noise>
+          </camera>
+      </sensor>
 
-    <sensor name="rs_down" type="rgbd_camera">
-        <pose>0.85 0 -0.20 0 1.57079632679 0</pose>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <camera name="rs_down">
-            <horizontal_fov>1.50098</horizontal_fov>
-            <lens>
-                <intrinsics>
-                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>686.32</fx>
-                    <fy>686.32</fy>
-                    <!-- cx = ( width - 1 ) / 2 -->
-                    <cx>639.5</cx>
-                    <!-- cy = ( height - 1 ) / 2 -->
-                    <cy>359.5</cy>
-                    <s>0</s>
-                </intrinsics>
-            </lens>
-            <distortion>
-                <k1>0.0</k1>
-                <k2>0.0</k2>
-                <k3>0.0</k3>
-                <p1>0.0</p1>
-                <p2>0.0</p2>
-                <center>0.5 0.5</center>
-            </distortion>
-            <image>
-                <width>1280</width>
-                <height>720</height>
-                <format>R8G8B8</format>
-            </image>
-            <clip>
-                <near>0.01</near>
-                <far>300</far>
-            </clip>
-            <depth_camera>
+      <sensor name="rs_down" type="rgbd_camera">
+          <pose>0.85 0 -0.20 0 1.57079632679 0</pose>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <camera name="rs_down">
+              <horizontal_fov>1.50098</horizontal_fov>
+              <lens>
+                  <intrinsics>
+                      <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                      <fx>686.32</fx>
+                      <fy>686.32</fy>
+                      <!-- cx = ( width - 1 ) / 2 -->
+                      <cx>639.5</cx>
+                      <!-- cy = ( height - 1 ) / 2 -->
+                      <cy>359.5</cy>
+                      <s>0</s>
+                  </intrinsics>
+              </lens>
+              <distortion>
+                  <k1>0.0</k1>
+                  <k2>0.0</k2>
+                  <k3>0.0</k3>
+                  <p1>0.0</p1>
+                  <p2>0.0</p2>
+                  <center>0.5 0.5</center>
+              </distortion>
+              <image>
+                  <width>1280</width>
+                  <height>720</height>
+                  <format>R8G8B8</format>
+              </image>
               <clip>
-                <near>0.1</near>
-                <far>10</far>
+                  <near>0.01</near>
+                  <far>300</far>
               </clip>
-            </depth_camera>
-            <noise>
-                <type>gaussian</type>
-                <mean>0</mean>
-                <stddev>0.007</stddev>
-            </noise>
-        </camera>
-    </sensor>
+              <depth_camera>
+                <clip>
+                  <near>0.1</near>
+                  <far>10</far>
+                </clip>
+              </depth_camera>
+              <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.007</stddev>
+              </noise>
+          </camera>
+      </sensor>
 
-    <sensor name="camera_front" type="camera">
-        <pose>0.107 0 0.0 0 0 0</pose>
-        <always_on>1</always_on>
-        <update_rate>60</update_rate>
-        <camera name="camera_front">
-            <horizontal_fov>1.74533</horizontal_fov>
-            <lens>
-                <intrinsics>
-                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                    <fx>671.28</fx>
-                    <fy>671.28</fy>
-                    <!-- cx = ( width - 1 ) / 2 -->
-                    <cx>839.5</cx>
-                    <!-- cy = ( height - 1 ) / 2 -->
-                    <cy>599.5</cy>
-                    <s>0</s>
-                </intrinsics>
-            </lens>
-            <distortion>
-                <k1>0.0</k1>
-                <k2>0.0</k2>
-                <k3>0.0</k3>
-                <p1>0.0</p1>
-                <p2>0.0</p2>
-                <center>0.5 0.5</center>
-            </distortion>
-            <image>
-                <width>1600</width>
-                <height>1200</height>
-                <format>R8G8B8</format>
-            </image>
-            <clip>
-                <near>0.01</near>
-                <far>300</far>
-            </clip>
-            <noise>
-                <type>gaussian</type>
-                <mean>0</mean>
-                <stddev>0.007</stddev>
-            </noise>
-        </camera>
-    </sensor>
-    <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-            <imu>
-                <angular_velocity>
-                    <x>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.009</stddev>
-                            <bias_mean>0.00075</bias_mean>
-                            <bias_stddev>0.005</bias_stddev>
-                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                            <precision>0.00025</precision>
-                        </noise>
-                    </x>
-                    <y>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.009</stddev>
-                            <bias_mean>0.00075</bias_mean>
-                            <bias_stddev>0.005</bias_stddev>
-                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                            <precision>0.00025</precision>
-                        </noise>
-                    </y>
-                    <z>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.009</stddev>
-                            <bias_mean>0.00075</bias_mean>
-                            <bias_stddev>0.005</bias_stddev>
-                            <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                            <precision>0.00025</precision>
-                        </noise>
-                    </z>
-                </angular_velocity>
-                <linear_acceleration>
-                    <x>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.021</stddev>
-                            <bias_mean>0.05</bias_mean>
-                            <bias_stddev>0.0075</bias_stddev>
-                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                            <precision>0.005</precision>
-                        </noise>
-                    </x>
-                    <y>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.021</stddev>
-                            <bias_mean>0.05</bias_mean>
-                            <bias_stddev>0.0075</bias_stddev>
-                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                            <precision>0.005</precision>
-                        </noise>
-                    </y>
-                    <z>
-                        <noise type="gaussian">
-                            <mean>0</mean>
-                            <stddev>0.021</stddev>
-                            <bias_mean>0.05</bias_mean>
-                            <bias_stddev>0.0075</bias_stddev>
-                            <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                            <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                            <precision>0.005</precision>
-                        </noise>
-                    </z>
-                </linear_acceleration>
-            </imu>
-    </sensor>
-    <light name="light_front_left" type="spot">
-      <pose>0.159099 0.152028 -0.0785 0 1.5708 2.35619</pose>
-      <attenuation>
-        <range>50</range>
-        <linear>0</linear>
-        <constant>0.1</constant>
-        <quadratic>0.0025</quadratic>
-      </attenuation>
-      <diffuse>0.8 0.8 0.5 1</diffuse>
-      <specular>0.8 0.8 0.5 1</specular>
-      <spot>
-        <inner_angle>2.8</inner_angle>
-        <outer_angle>2.9</outer_angle>
-        <falloff>1</falloff>
-      </spot>
-      <direction>1 0 0</direction>
-    </light>
-    <light name="light_front_right" type="spot">
-      <pose>0.159099 -0.152028 -0.0785 -1.5708 -0 2.35619</pose>
-      <attenuation>
-        <range>50</range>
-        <linear>0</linear>
-        <constant>0.1</constant>
-        <quadratic>0.0025</quadratic>
-      </attenuation>
-      <diffuse>0.8 0.8 0.5 1</diffuse>
-      <specular>0.8 0.8 0.5 1</specular>
-      <spot>
-        <inner_angle>2.8</inner_angle>
-        <outer_angle>2.9</outer_angle>
-        <falloff>1</falloff>
-      </spot>
-      <direction>1 0 0</direction>
-    </light>
+      <sensor name="camera_front" type="camera">
+          <pose>0.107 0 0.0 0 0 0</pose>
+          <always_on>1</always_on>
+          <update_rate>60</update_rate>
+          <camera name="camera_front">
+              <horizontal_fov>1.74533</horizontal_fov>
+              <lens>
+                  <intrinsics>
+                      <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                      <fx>671.28</fx>
+                      <fy>671.28</fy>
+                      <!-- cx = ( width - 1 ) / 2 -->
+                      <cx>839.5</cx>
+                      <!-- cy = ( height - 1 ) / 2 -->
+                      <cy>599.5</cy>
+                      <s>0</s>
+                  </intrinsics>
+              </lens>
+              <distortion>
+                  <k1>0.0</k1>
+                  <k2>0.0</k2>
+                  <k3>0.0</k3>
+                  <p1>0.0</p1>
+                  <p2>0.0</p2>
+                  <center>0.5 0.5</center>
+              </distortion>
+              <image>
+                  <width>1600</width>
+                  <height>1200</height>
+                  <format>R8G8B8</format>
+              </image>
+              <clip>
+                  <near>0.01</near>
+                  <far>300</far>
+              </clip>
+              <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.007</stddev>
+              </noise>
+          </camera>
+      </sensor>
+
+      <sensor name="imu_sensor" type="imu">
+          <always_on>1</always_on>
+          <update_rate>250</update_rate>
+              <imu>
+                  <angular_velocity>
+                      <x>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.009</stddev>
+                              <bias_mean>0.00075</bias_mean>
+                              <bias_stddev>0.005</bias_stddev>
+                              <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                              <precision>0.00025</precision>
+                          </noise>
+                      </x>
+                      <y>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.009</stddev>
+                              <bias_mean>0.00075</bias_mean>
+                              <bias_stddev>0.005</bias_stddev>
+                              <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                              <precision>0.00025</precision>
+                          </noise>
+                      </y>
+                      <z>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.009</stddev>
+                              <bias_mean>0.00075</bias_mean>
+                              <bias_stddev>0.005</bias_stddev>
+                              <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                              <precision>0.00025</precision>
+                          </noise>
+                      </z>
+                  </angular_velocity>
+                  <linear_acceleration>
+                      <x>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.021</stddev>
+                              <bias_mean>0.05</bias_mean>
+                              <bias_stddev>0.0075</bias_stddev>
+                              <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                              <precision>0.005</precision>
+                          </noise>
+                      </x>
+                      <y>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.021</stddev>
+                              <bias_mean>0.05</bias_mean>
+                              <bias_stddev>0.0075</bias_stddev>
+                              <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                              <precision>0.005</precision>
+                          </noise>
+                      </y>
+                      <z>
+                          <noise type="gaussian">
+                              <mean>0</mean>
+                              <stddev>0.021</stddev>
+                              <bias_mean>0.05</bias_mean>
+                              <bias_stddev>0.0075</bias_stddev>
+                              <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                              <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                              <precision>0.005</precision>
+                          </noise>
+                      </z>
+                  </linear_acceleration>
+              </imu>
+      </sensor>
+
+      <light name="light_front_left" type="spot">
+        <pose>0.159099 0.152028 -0.0785 0 1.5708 2.35619</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
+
+      <light name="light_front_right" type="spot">
+        <pose>0.159099 -0.152028 -0.0785 -1.5708 -0 2.35619</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
 
-    <light name="top_light" type="spot">
-      <pose>0.05 0 0.059 0 3.14159 0</pose>
-      <attenuation>
-        <range>50</range>
-        <linear>0</linear>
-        <constant>0.1</constant>
-        <quadratic>0.0025</quadratic>
-      </attenuation>
-      <diffuse>0.8 0.8 0.5 1</diffuse>
-      <specular>0.8 0.8 0.5 1</specular>
-      <spot>
-        <inner_angle>2.8</inner_angle>
-        <outer_angle>2.9</outer_angle>
-        <falloff>1</falloff>
-      </spot>
-      <direction>1 0 0</direction>
-    </light>
+      <light name="top_light" type="spot">
+        <pose>0.05 0 0.059 0 3.14159 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
 
-    <light name="bottom_light" type="spot">
-      <pose>0.03 0 -0.05 0 0 0</pose>
-      <attenuation>
-        <range>50</range>
-        <linear>0</linear>
-        <constant>0.1</constant>
-        <quadratic>0.0025</quadratic>
-      </attenuation>
-      <diffuse>0.8 0.8 0.5 1</diffuse>
-      <specular>0.8 0.8 0.5 1</specular>
-      <spot>
-        <inner_angle>2.8</inner_angle>
-        <outer_angle>2.9</outer_angle>
-        <falloff>1</falloff>
-      </spot>
-      <direction>1 0 0</direction>
-    </light>
+      <light name="bottom_light" type="spot">
+        <pose>0.03 0 -0.05 0 0 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>2.8</inner_angle>
+          <outer_angle>2.9</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+      </light>
 
       <inertial>
         <pose>0 0 0 0 -0 0</pose>

From ce241b57566148722465148efd771eb1dfa96638 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Thu, 25 Mar 2021 21:06:37 +0100
Subject: [PATCH 17/22] reverted accidental changes of marble_qav500

---
 .../CMakeLists.txt                            |  63 +--
 .../launch/spawner.rb                         |  32 +-
 .../launch/vehicle_topics.launch              |   5 +
 .../marble_qav500_sensor_config_1/model.sdf   |   4 +-
 .../model_package.sdf                         |   4 +-
 .../msg/ControlReference.msg                  |   4 -
 .../marble_qav500_sensor_config_1/package.xml |   6 -
 .../src/BacaSE3Controller.cc                  | 203 --------
 .../src/BacaSE3Controller.hh                  |  70 ---
 .../src/Common.cc                             | 248 ----------
 .../src/Common.hh                             |  69 ---
 .../src/LeeVelocityController.cc              | 178 -------
 .../src/LeeVelocityController.hh              |  64 ---
 .../src/MRSMultirotorController.cc            | 449 ------------------
 .../src/MRSMultirotorController.hh            | 104 ----
 .../src/Parameters.hh                         |  51 --
 16 files changed, 30 insertions(+), 1524 deletions(-)
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Common.cc
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Common.hh
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
 delete mode 100644 submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh

diff --git a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
index d4021e4e..3ca627f8 100644
--- a/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/marble_qav500_sensor_config_1/CMakeLists.txt
@@ -1,66 +1,13 @@
-cmake_minimum_required(VERSION 3.1.2)
-
+cmake_minimum_required(VERSION 2.8.3)
 project(marble_qav500_sensor_config_1)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  message_generation
-  message_runtime
-  std_msgs
-  geometry_msgs
-)
-
-find_package(ignition-gazebo4 REQUIRED)
-find_package(ignition-transport9 REQUIRED)
-find_package(ignition-common3 REQUIRED)
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-add_message_files(DIRECTORY msg FILES
-  ControlReference.msg
-)
-
-generate_messages(DEPENDENCIES
-  std_msgs
-  geometry_msgs
-)
+find_package(catkin REQUIRED)
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime message_generation roscpp std_msgs geometry_msgs
-)
+catkin_package()
 
-include_directories(
-  src
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_library(MRSMultirotorController SHARED
-  src/MRSMultirotorController.cc
-  src/Common.cc
-  src/LeeVelocityController.cc
-  src/BacaSE3Controller.cc
-)
-
-target_link_libraries(MRSMultirotorController
-  PUBLIC ${catkin_LIBRARIES}
-  PRIVATE ignition-plugin1::ignition-plugin1
-  PRIVATE ignition-gazebo4::ignition-gazebo4
-  PRIVATE ignition-common3::ignition-common3
-  PRIVATE ignition-transport9::ignition-transport9
-  PRIVATE Eigen3::Eigen
-)
-
-install(DIRECTORY launch meshes urdf materials worlds
+install(DIRECTORY launch meshes urdf materials
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
-install(TARGETS MRSMultirotorController
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
index 9b2a0e2b..a0ab02aa 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
@@ -31,7 +31,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>2.269e-05</motorConstant>
+        <motorConstant>1.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>0</motorNumber>
@@ -50,7 +50,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>2.269e-05</motorConstant>
+        <motorConstant>1.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>1</motorNumber>
@@ -69,7 +69,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>2.269e-05</motorConstant>
+        <motorConstant>1.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>2</motorNumber>
@@ -88,7 +88,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <timeConstantUp>0.0182</timeConstantUp>
         <timeConstantDown>0.0182</timeConstantDown>
         <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>2.269e-05</motorConstant>
+        <motorConstant>1.269e-05</motorConstant>
         <momentConstant>0.016754</momentConstant>
         <commandSubTopic>command/motor_speed</commandSubTopic>
         <motorNumber>3</motorNumber>
@@ -100,19 +100,19 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
       </plugin>
       <!-- MulticopterVelocityControl plugin -->
       <plugin
-        filename="libMRSMultirotorController.so"
-        name="ignition::gazebo::systems::MRSMultirotorController">
+        filename="libignition-gazebo-multicopter-control-system.so"
+        name="ignition::gazebo::systems::MulticopterVelocityControl">
         <robotNamespace>model/#{_name}</robotNamespace>
         <commandSubTopic>cmd_vel</commandSubTopic>
         <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
         <enableSubTopic>velocity_controller/enable</enableSubTopic>
         <comLinkName>base_link</comLinkName>
-        <velocityGain>10 10 10</velocityGain>
-        <attitudeGain>5 5 5</attitudeGain>
-        <angularRateGain>2.0 2.0 3.0</angularRateGain>
-        <maximumLinearAcceleration>10 10 10</maximumLinearAcceleration>
-        <maximumLinearVelocity>8 8 8</maximumLinearVelocity>
-        <maximumAngularVelocity>20 20 10</maximumAngularVelocity>
+        <velocityGain>8 8 10</velocityGain>
+        <attitudeGain>6 6 6</attitudeGain>
+        <angularRateGain>2.5 2.5 4.0</angularRateGain>
+        <maximumLinearAcceleration>5 5 3</maximumLinearAcceleration>
+        <maximumLinearVelocity>4 4 4</maximumLinearVelocity>
+        <maximumAngularVelocity>3 3 6</maximumAngularVelocity>
         <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
         <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
         <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
@@ -126,25 +126,25 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <rotorConfiguration>
             <rotor>
               <jointName>rotor_0_joint</jointName>
-              <forceConstant>2.269e-05</forceConstant>
+              <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_1_joint</jointName>
-              <forceConstant>2.269e-05</forceConstant>
+              <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_2_joint</jointName>
-              <forceConstant>2.269e-05</forceConstant>
+              <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>-1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_3_joint</jointName>
-              <forceConstant>2.269e-05</forceConstant>
+              <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
               <direction>-1</direction>
             </rotor>
diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
index 98fae2eb..6c3354b4 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
@@ -222,5 +222,10 @@
       pkg="subt_ros"
       type="pose_tf_broadcaster"
       name="pose_tf_broadcaster"/>
+      
+    <!-- Mapping Server -->
+    <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
+      <arg name="name" value="$(arg name)"/>
+    </include>
   </group>
 </launch>
diff --git a/submitted_models/marble_qav500_sensor_config_1/model.sdf b/submitted_models/marble_qav500_sensor_config_1/model.sdf
index ce247f06..422fd1f2 100644
--- a/submitted_models/marble_qav500_sensor_config_1/model.sdf
+++ b/submitted_models/marble_qav500_sensor_config_1/model.sdf
@@ -394,8 +394,8 @@
                         <horizontal>
                             <samples>1024</samples>
                             <resolution>1</resolution>
-                            <min_angle>-3.1459</min_angle>
-                            <max_angle>3.1459</max_angle>
+                            <min_angle>-3.14159</min_angle>
+                            <max_angle>3.14159</max_angle>
                         </horizontal>
                         <vertical>
                             <samples>64</samples>
diff --git a/submitted_models/marble_qav500_sensor_config_1/model_package.sdf b/submitted_models/marble_qav500_sensor_config_1/model_package.sdf
index 82235edc..41a3c227 100644
--- a/submitted_models/marble_qav500_sensor_config_1/model_package.sdf
+++ b/submitted_models/marble_qav500_sensor_config_1/model_package.sdf
@@ -337,8 +337,8 @@
                             https://bitbucket.org/ignitionrobotics/ign-sensors/issues/8 -->
                             <samples>10000</samples>
                             <resolution>0.1</resolution>
-                            <min_angle>-3.1459</min_angle>
-                            <max_angle>3.1459</max_angle>
+                            <min_angle>-3.14159</min_angle>
+                            <max_angle>3.14159</max_angle>
                         </horizontal>
                         <vertical>
                             <samples>16</samples>
diff --git a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg b/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
deleted file mode 100644
index 0b9689c4..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/msg/ControlReference.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-std_msgs/Header header
-
-geometry_msgs/Point acceleration
-geometry_msgs/Point jerk
diff --git a/submitted_models/marble_qav500_sensor_config_1/package.xml b/submitted_models/marble_qav500_sensor_config_1/package.xml
index 61bcdd6a..97524b48 100644
--- a/submitted_models/marble_qav500_sensor_config_1/package.xml
+++ b/submitted_models/marble_qav500_sensor_config_1/package.xml
@@ -26,10 +26,4 @@
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <depend>roscpp</depend>
-  <depend>message_generation</depend>
-  <depend>message_runtime</depend>
-  <depend>std_msgs</depend>
-  <depend>geometry_msgs</depend>
-
 </package>
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
deleted file mode 100644
index 2f08500e..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.cc
+++ /dev/null
@@ -1,203 +0,0 @@
-/* includes //{ */
-
-#include <BacaSE3Controller.hh>
-
-//}
-
-namespace ignition
-{
-namespace gazebo
-{
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-
-// | ------------------------- PUBLIC ------------------------- |
-
-/* BacaSE3Controller() //{ */
-
-BacaSE3Controller::BacaSE3Controller(const BacaSE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters) {
-
-  _controller_parameters_ = controller_parameters;
-  _vehicle_parameters_    = vehicle_parameters;
-
-  InitializeParameters();
-}
-
-//}
-
-/* CalculateRotorVelocities() //{ */
-
-Eigen::VectorXd BacaSE3Controller::CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
-                                                            const BacaSE3ControllerFeedforward &feedforward_command) const {
-
-  // | ----- transform the stuff from the body to the world ----- |
-
-  // rotation from the body to the world
-  Eigen::Matrix3d R = simulator_model_data.pose.linear();
-
-  Eigen::Vector3d vel_ref  = R * control_command.linear;
-  Eigen::Vector3d acc_ref  = R * feedforward_command.acceleration;
-  Eigen::Vector3d jerk_ref = R * feedforward_command.jerk;
-
-  // desired acceleration: proportional control of velocity + acceleration feedforward
-  Eigen::Vector3d des_acceleration = ComputeDesiredAcceleration(simulator_model_data, vel_ref, acc_ref);
-
-  const double des_yaw_rate = control_command.angular[2];
-
-  Eigen::Vector3d des_angular_acceleration = SO3Controller(simulator_model_data, des_acceleration, jerk_ref, des_yaw_rate);
-
-  // project thrust onto body z axis.
-  double thrust = _vehicle_parameters_.mass * des_acceleration.dot(simulator_model_data.pose.linear().col(2));
-
-  Eigen::Vector4d angularAccelerationThrust;
-
-  angularAccelerationThrust.block<3, 1>(0, 0) = des_angular_acceleration;
-  angularAccelerationThrust(3)                = thrust;
-
-  Eigen::VectorXd rotor_velocities = angular_acc_to_rotor_velocities_ * angularAccelerationThrust;
-
-  rotor_velocities = rotor_velocities.cwiseMax(Eigen::VectorXd::Zero(rotor_velocities.rows()));
-  rotor_velocities = rotor_velocities.cwiseSqrt();
-
-  return rotor_velocities;
-}
-
-//}
-
-// | ------------------------- PRIVATE ------------------------ |
-
-/* InitializeParameters() //{ */
-
-bool BacaSE3Controller::InitializeParameters() {
-
-  auto allocationMatrix = calculateAllocationMatrix(_vehicle_parameters_.rotorConfiguration);
-
-  if (!allocationMatrix.has_value()) {
-    // Error should already be printed by function
-    return false;
-  }
-
-  // make inertia-independent attitude gain
-  normalized_attitude_gain_ = _controller_parameters_.attitude_gain.transpose() * _vehicle_parameters_.inertia.inverse();
-
-  // make inertia-independent attitude rate gain
-  normalized_angular_rate_gain_ = _controller_parameters_.angular_rate_gain.transpose() * _vehicle_parameters_.inertia.inverse();
-
-  {  // TODO check what this really does and where it comes from
-
-    Eigen::Matrix4d moi;
-    moi.setZero();
-    moi.block<3, 3>(0, 0) = _vehicle_parameters_.inertia;
-    moi(3, 3)             = 1;
-
-    angular_acc_to_rotor_velocities_.resize(_vehicle_parameters_.rotorConfiguration.size(), 4);
-
-    const auto &aMat = *allocationMatrix;
-
-    // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
-    // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
-    angular_acc_to_rotor_velocities_ = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
-  }
-
-  return true;
-}
-
-//}
-
-/* ComputeDesiredAcceleration() //{ */
-
-Eigen::Vector3d BacaSE3Controller::ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref,
-                                                              const Eigen::Vector3d &acc_ref) const {
-
-  // the velocity error
-  Eigen::Vector3d velocity_error = vel_ref - simulator_model_data.linearVelocityWorld;
-
-  // feedback on velocity through acceleration
-  Eigen::Vector3d feedback_a = velocity_error.cwiseProduct(_controller_parameters_.velocity_gain) / _vehicle_parameters_.mass;
-
-  // sum up the individual components: feedback + feedforward
-  Eigen::Vector3d des_accel = feedback_a + acc_ref;
-
-  // --------------------------------------------------------------
-  // |       limit the acceleration the the allowed maximum       |
-  // --------------------------------------------------------------
-  des_accel = des_accel.cwiseAbs().cwiseMin(_controller_parameters_.max_linear_acceleration).cwiseProduct(des_accel.cwiseSign());
-
-  /* std::cout << "des_accel " << std::endl << des_accel[0] << " ff " << acc_ref[0] << std::endl; */
-
-  // + gravity compensation
-  return des_accel - _vehicle_parameters_.gravity;
-}
-
-//}
-
-/* SO3Controller() //{ */
-
-Eigen::Vector3d BacaSE3Controller::SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration,
-                                                 const Eigen::Vector3d &des_jerk, const double &des_yaw_rate) const {
-
-  // current orientation
-  const Eigen::Matrix3d &R = simulator_model_data.pose.linear();
-
-  // desired force acting on the UAV
-  Eigen::Vector3d des_f      = des_acceleration * _vehicle_parameters_.mass;
-  Eigen::Vector3d des_f_norm = des_f.normalized();
-
-  // | ------- constructing the desired orientation matrix ------ |
-
-  // desired orientation
-  Eigen::Matrix3d Rd;
-
-  // b3 will will be equal to the desired force vector
-  Eigen::Vector3d b3_des = des_f_norm;
-
-  // since we don't control for desired yaw/heading, we care about maintaning the current one
-  // this can be, e.g., approximately achieved by requiring the b1 vector to stay as it is
-  Eigen::Vector3d b1_des = R.col(0);
-
-  Rd.col(2) = b3_des;
-  Rd.col(1) = Rd.col(2).cross(b1_des);
-  Rd.col(1).normalize();
-  Rd.col(0) = Rd.col(1).cross(b3_des);
-  Rd.col(0).normalize();
-
-  // orientation error
-  Eigen::Matrix3d R_e = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
-
-  // orientation error vector
-  Eigen::Vector3d R_e_vec = vectorFromSkewMatrix(R_e);
-
-  /* std::cout << "R_e_vec " << std::endl << R_e_vec << std::endl; */
-
-  // | -------------------- jerk feedforward -------------------- |
-
-  Eigen::Vector3d q_feedforward = Eigen::Vector3d(0, 0, 0);
-
-  Eigen::Matrix3d I;
-  I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
-  Eigen::Vector3d desired_jerk = Eigen::Vector3d(des_jerk[0], des_jerk[1], des_jerk[2]);
-  q_feedforward                = (I.transpose() * Rd.transpose() * desired_jerk) / (des_acceleration.dot(R.col(2)));
-
-  // | ------------------ angular rate control ------------------ |
-
-  // des angular rate from the control command
-  Eigen::Vector3d des_angular_rate;
-  des_angular_rate = Eigen::Vector3d(0, 0, des_yaw_rate) + q_feedforward;
-
-  // angular rate error
-  Eigen::Vector3d w_e = simulator_model_data.angularVelocityBody - R.transpose() * Rd * des_angular_rate;
-
-  return -1 * R_e_vec.cwiseProduct(normalized_attitude_gain_) - w_e.cwiseProduct(normalized_angular_rate_gain_);
-}
-
-//}
-
-}  // namespace multicopter_control
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh b/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
deleted file mode 100644
index 73e56e5f..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/BacaSE3Controller.hh
+++ /dev/null
@@ -1,70 +0,0 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_BACASE3CONTROLLER_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_BACASE3CONTROLLER_HH_
-
-#include <Eigen/Geometry>
-#include <Common.hh>
-#include <ignition/gazebo/config.hh>
-
-namespace ignition
-{
-namespace gazebo
-{
-
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-
-struct BacaSE3ControllerParameters
-{
-  Eigen::Vector3d velocity_gain;
-  Eigen::Vector3d attitude_gain;
-  Eigen::Vector3d angular_rate_gain;
-  Eigen::Vector3d max_linear_acceleration;
-};
-
-struct BacaSE3ControllerFeedforward
-{
-  Eigen::Vector3d acceleration;
-  Eigen::Vector3d jerk;
-};
-
-class BacaSE3Controller {
-
-public:
-  BacaSE3Controller(const BacaSE3ControllerParameters &controller_parameters, const VehicleParameters &vehicle_parameters);
-
-  // the main function that returns the result
-  Eigen::VectorXd CalculateRotorVelocities(const FrameData &simulator_model_data, const EigenTwist &control_command,
-                                           const BacaSE3ControllerFeedforward &feedforward_command) const;
-
-private:
-  // | ----------------------- parameters ----------------------- |
-
-  BacaSE3ControllerParameters _controller_parameters_;
-  VehicleParameters           _vehicle_parameters_;
-
-  bool InitializeParameters();
-
-  // parameters computed in during initialization
-  Eigen::Vector3d  normalized_attitude_gain_;
-  Eigen::Vector3d  normalized_angular_rate_gain_;
-  Eigen::MatrixX4d angular_acc_to_rotor_velocities_;
-
-  // | -------------------- internal methods -------------------- |
-
-  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &simulator_model_data, const Eigen::Vector3d &vel_ref, const Eigen::Vector3d &acc_ref) const;
-  Eigen::Vector3d SO3Controller(const FrameData &simulator_model_data, const Eigen::Vector3d &des_acceleration, const Eigen::Vector3d &des_jerk,
-                                const double &des_yaw_rate) const;
-};
-
-}  // namespace multicopter_control
-
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
-
-#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Common.cc b/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
deleted file mode 100644
index 5997089d..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/Common.cc
+++ /dev/null
@@ -1,248 +0,0 @@
-/* includes //{ */
-
-#include "Common.hh"
-
-#include <string>
-
-#include <ignition/common/Console.hh>
-#include <ignition/math/eigen3/Conversions.hh>
-
-#include <ignition/gazebo/components/ChildLinkName.hh>
-#include <ignition/gazebo/components/Joint.hh>
-#include <ignition/gazebo/components/JointAxis.hh>
-#include <ignition/gazebo/components/Link.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
-#include <ignition/gazebo/components/Pose.hh>
-#include "ignition/gazebo/components/LinearVelocity.hh"
-#include "ignition/gazebo/components/AngularVelocity.hh"
-
-//}
-
-namespace ignition
-{
-namespace gazebo
-{
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-
-/* loadRotorConfiguration() //{ */
-
-RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink) {
-
-  RotorConfiguration out;
-  std::size_t        count = 0;
-
-  for (sdf::ElementPtr elem = _sdf->GetFirstElement(); elem; elem = elem->GetNextElement("rotor"), ++count) {
-
-    Rotor rotor;
-
-    if (!elem->HasElement("jointName")) {
-      ignerr << "Please specify jointName for rotor index " << count << std::endl;
-      continue;
-    }
-
-    const std::string jointName = elem->Get<std::string>("jointName");
-
-    const Entity joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName), components::ParentEntity(_model.Entity()));
-
-    if (kNullEntity == joint) {
-      ignerr << "Joint with name " << jointName << " could not be found in "
-             << "model " << _model.Name(_ecm) << " while processing rotor "
-             << "index " << count << std::endl;
-      continue;
-    }
-
-    // Calculate the armLength and angle of propeller. The angle of a
-    // propeller is the angle about the z axis from the x axis of the frame
-    // attached to _comLink to the joint.
-
-    // First, get the pose of the joint w.r.t _comLink
-    const std::string childLinkName = _ecm.Component<components::ChildLinkName>(joint)->Data();
-
-    const Entity childLink = _ecm.EntityByComponents(components::Link(), components::Name(childLinkName), components::ParentEntity(_model.Entity()));
-
-    if (kNullEntity == childLink) {
-      ignerr << "Child link of joint " << jointName << " with name " << childLinkName << " could not be found in  model " << _model.Name(_ecm)
-             << " while processing rotor index " << count << std::endl;
-      continue;
-    }
-
-    const math::Pose3d jointPose     = _ecm.Component<components::Pose>(joint)->Data();
-    const math::Pose3d childLinkPose = _ecm.Component<components::Pose>(childLink)->Data();
-    const math::Pose3d comLinkPose   = _ecm.Component<components::Pose>(_comLink)->Data();
-
-    const math::Pose3d jointPoseComLink = comLinkPose.Inverse() * (childLinkPose * jointPose);
-
-    // Project jointPoseComLink into the rotor plane, which is assumed to be
-    // the XY plane.
-    math::Vector3d unitZ     = math::Vector3d::UnitZ;
-    math::Vector3d rotorProj = jointPoseComLink.Pos() - (unitZ.Dot(jointPoseComLink.Pos()) * unitZ);
-
-    rotor.armLength = rotorProj.Length();
-    math::Quaterniond rot;
-    rot.From2Axes(math::Vector3d::UnitX, rotorProj);
-    rotor.angle = rot.Yaw();
-
-    if (!elem->HasElement("forceConstant")) {
-      ignerr << "Please specify forceConstant for rotor index " << count << std::endl;
-      continue;
-    }
-    rotor.forceConstant = elem->Get<double>("forceConstant");
-
-    // forceConstant assumes that the rotor's thrust is along the body's +z
-    // direction. However, UAVs have their rotors oriented such they are not
-    // orthogonal to the rotor plane (the COM link frame's xy plane). To
-    // account for the difference in thrust, we multiply the forceConstant
-    // with the projection of the rotor's vector onto the +z axis of the
-    // COM link frame.
-    auto axis = _ecm.Component<components::JointAxis>(joint);
-    if (nullptr != axis) {
-      math::Vector3d xyzInJoint;
-      axis->Data().ResolveXyz(xyzInJoint);
-
-      auto xyzInComLink = comLinkPose.Rot().Inverse() * (childLinkPose.Rot() * jointPose.Rot() * xyzInJoint);
-
-      // The projection onto the +z axis is just the z component of the
-      // xyzInComLink vector
-      rotor.forceConstant *= xyzInComLink.Z();
-    }
-
-    if (!elem->HasElement("momentConstant")) {
-      ignerr << "Please specify momentConstant for rotor index " << count << std::endl;
-      continue;
-    }
-
-    rotor.momentConstant = elem->Get<double>("momentConstant");
-
-    if (!elem->HasElement("direction")) {
-      ignerr << "Please specify direction for rotor index " << count << std::endl;
-      continue;
-    }
-
-    rotor.direction = elem->Get<int>("direction");
-
-    out.push_back(rotor);
-  }
-
-  return out;
-}
-
-//}
-
-/* calculateAllocationMatrix() //{ */
-
-std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration) {
-
-  Eigen::Matrix4Xd allocationMatrix;
-
-  allocationMatrix.resize(4, _rotorConfiguration.size());
-
-  unsigned int i = 0;
-
-  for (const Rotor &rotor : _rotorConfiguration) {
-
-    // Set first row of allocation matrix.
-    allocationMatrix(0, i) = sin(rotor.angle) * rotor.armLength * rotor.forceConstant;
-    // Set second row of allocation matrix.
-    allocationMatrix(1, i) = -cos(rotor.angle) * rotor.armLength * rotor.forceConstant;
-    // Set third row of allocation matrix.
-    allocationMatrix(2, i) = -rotor.direction * rotor.forceConstant * rotor.momentConstant;
-    // Set forth row of allocation matrix.
-    allocationMatrix(3, i) = rotor.forceConstant;
-    ++i;
-  }
-
-  Eigen::FullPivLU<Eigen::Matrix4Xd> lu(allocationMatrix);
-
-  lu.setThreshold(1e-9);
-  int rank = lu.rank();
-
-  if (rank < 4) {
-    ignerr << "The rank of the allocation matrix is " << lu.rank() << ", it should have rank 4, to have a fully controllable system,"
-           << " check your configuration." << std::endl;
-    return std::nullopt;
-  }
-
-  return std::make_optional(allocationMatrix);
-}
-
-//}
-
-/* createFrameDataComponents() //{ */
-
-void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link) {
-
-  // Create a world Pose component if one is not present
-  if (_ecm.Component<components::WorldPose>(_link)) {
-    _ecm.CreateComponent(_link, components::WorldPose());
-  }
-
-  // Create a world linear velocity component if one is not present.
-  if (!_ecm.Component<components::WorldLinearVelocity>(_link)) {
-    _ecm.CreateComponent(_link, components::WorldLinearVelocity());
-  }
-
-  // Create an angular velocity component if one is not present.
-  if (!_ecm.Component<components::AngularVelocity>(_link)) {
-    _ecm.CreateComponent(_link, components::AngularVelocity());
-  }
-}
-
-//}
-
-/* getFrameData() //{ */
-
-std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise) {
-
-  auto poseComp = _ecm.Component<components::WorldPose>(_link);
-
-  if (!poseComp) {
-    ignerr << "WorldPose component not found on link entity " << _link << std::endl;
-    return std::nullopt;
-  }
-
-  auto velComp = _ecm.Component<components::WorldLinearVelocity>(_link);
-
-  if (!velComp) {
-    ignerr << "WorldLinearVelocity component not found on link entity " << _link << std::endl;
-    return std::nullopt;
-  }
-  auto angVelComp = _ecm.Component<components::AngularVelocity>(_link);
-
-  if (!angVelComp) {
-    ignerr << "AngularVelocity component not found on link entity " << _link << std::endl;
-    return std::nullopt;
-  }
-
-  auto applyNoise = [](Eigen::Vector3d &_val, const Eigen::Vector3d &_mean, const Eigen::Vector3d &_stdDev) {
-    for (int i = 0; i < 3; ++i) {
-      if (_stdDev(i) > 0) {
-        _val(i) += math::Rand::DblNormal(_mean(i), _stdDev(i));
-      }
-    }
-  };
-
-  auto frameData = std::make_optional<FrameData>(
-      {math::eigen3::convert(poseComp->Data()), math::eigen3::convert(velComp->Data()), math::eigen3::convert(angVelComp->Data())});
-
-  // --------------------------------------------------------------
-  // |         add noise to the ideal simulated UAV states        |
-  // --------------------------------------------------------------
-  applyNoise(frameData->linearVelocityWorld, _noise.linearVelocityMean, _noise.linearVelocityStdDev);
-  applyNoise(frameData->angularVelocityBody, _noise.angularVelocityMean, _noise.angularVelocityStdDev);
-
-  return frameData;
-}
-
-//}
-
-}  // namespace multicopter_control
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Common.hh b/submitted_models/marble_qav500_sensor_config_1/src/Common.hh
deleted file mode 100644
index 9d6a86ee..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/Common.hh
+++ /dev/null
@@ -1,69 +0,0 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_COMMON_HH_
-
-/* includes() //{ */
-
-#include <Eigen/Geometry>
-#include <vector>
-
-#include <sdf/sdf.hh>
-
-#include "ignition/gazebo/config.hh"
-#include "ignition/gazebo/EntityComponentManager.hh"
-#include "ignition/gazebo/Model.hh"
-
-#include "Parameters.hh"
-
-//}
-
-namespace ignition
-{
-
-namespace gazebo
-{
-
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-
-struct EigenTwist
-{
-  Eigen::Vector3d linear;
-  Eigen::Vector3d angular;
-};
-
-struct FrameData
-{
-  Eigen::Isometry3d pose;
-  Eigen::Vector3d   linearVelocityWorld;
-  Eigen::Vector3d   angularVelocityBody;
-};
-
-RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm, const sdf::ElementPtr &_sdf, const Model &_model, const Entity &_comLink);
-
-std::optional<Eigen::Matrix4Xd> calculateAllocationMatrix(const RotorConfiguration &_rotorConfiguration);
-
-void createFrameDataComponents(EntityComponentManager &_ecm, const Entity &_link);
-
-std::optional<FrameData> getFrameData(const EntityComponentManager &_ecm, const Entity &_link, const NoiseParameters &_noise);
-
-inline Eigen::Matrix3d skewMatrixFromVector(const Eigen::Vector3d &_vector) {
-  Eigen::Matrix3d skewMatrix;
-  skewMatrix << 0, -_vector.z(), _vector.y(), _vector.z(), 0, -_vector.x(), -_vector.y(), _vector.x(), 0;
-  return skewMatrix;
-}
-
-inline Eigen::Vector3d vectorFromSkewMatrix(const Eigen::Matrix3d &_skewMatrix) {
-  return Eigen::Vector3d(_skewMatrix(2, 1), _skewMatrix(0, 2), _skewMatrix(1, 0));
-}
-
-}  // namespace multicopter_control
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
-
-#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
deleted file mode 100644
index 221f2a3f..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.cc
+++ /dev/null
@@ -1,178 +0,0 @@
-#include "LeeVelocityController.hh"
-
-namespace ignition
-{
-namespace gazebo
-{
-
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-
-/* MakeController() //{ */
-
-std::unique_ptr<LeeVelocityController> LeeVelocityController::MakeController(const LeeVelocityControllerParameters &_controllerParams,
-                                                                             const VehicleParameters &              _vehicleParams) {
-
-  std::unique_ptr<LeeVelocityController> controller(new LeeVelocityController());
-
-  controller->controllerParameters = _controllerParams;
-  controller->vehicleParameters    = _vehicleParams;
-
-  if (controller->InitializeParameters()) {
-    return controller;
-  } else {
-    return nullptr;
-  }
-}
-
-//}
-
-/* InitializeParameters() //{ */
-
-bool LeeVelocityController::InitializeParameters() {
-
-  auto allocationMatrix = calculateAllocationMatrix(this->vehicleParameters.rotorConfiguration);
-
-  if (!allocationMatrix.has_value()) {
-    // Error should already be printed by function
-    return false;
-  }
-
-  // To make the tuning independent of the inertia matrix we divide here.
-  this->normalizedAttitudeGain = this->controllerParameters.attitudeGain.transpose() * this->vehicleParameters.inertia.inverse();
-
-  this->normalizedAngularRateGain = this->controllerParameters.angularRateGain.transpose() * this->vehicleParameters.inertia.inverse();
-
-  Eigen::Matrix4d moi;
-  moi.setZero();
-  moi.block<3, 3>(0, 0) = this->vehicleParameters.inertia;
-  moi(3, 3)             = 1;
-
-  this->angularAccToRotorVelocities.resize(this->vehicleParameters.rotorConfiguration.size(), 4);
-
-  const auto &aMat = *allocationMatrix;
-
-  // Calculate the pseude-inverse A^{ \dagger} and then multiply by the inertia
-  // matrix I. A^{ \dagger} = A^T*(A*A^T)^{-1}
-  this->angularAccToRotorVelocities = aMat.transpose() * (aMat * aMat.transpose()).inverse() * moi;
-
-  return true;
-}
-
-//}
-
-/* CalculateRotorVelocities() //{ */
-
-void LeeVelocityController::CalculateRotorVelocities(const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const {
-
-  Eigen::Vector3d acceleration = this->ComputeDesiredAcceleration(_frameData, _cmdVel);
-
-  Eigen::Vector3d angularAcceleration = this->ComputeDesiredAngularAcc(_frameData, _cmdVel, acceleration);
-
-  // Project thrust onto body z axis.
-  double thrust = -this->vehicleParameters.mass * acceleration.dot(_frameData.pose.linear().col(2));
-
-  Eigen::Vector4d angularAccelerationThrust;
-
-  angularAccelerationThrust.block<3, 1>(0, 0) = angularAcceleration;
-  angularAccelerationThrust(3)                = thrust;
-
-  _rotorVelocities = this->angularAccToRotorVelocities * angularAccelerationThrust;
-
-  _rotorVelocities = _rotorVelocities.cwiseMax(Eigen::VectorXd::Zero(_rotorVelocities.rows()));
-  _rotorVelocities = _rotorVelocities.cwiseSqrt();
-}
-
-//}
-
-/* ComputeDesiredAcceleration() //{ */
-
-Eigen::Vector3d LeeVelocityController::ComputeDesiredAcceleration(const FrameData &_frameData, const EigenTwist &_cmdVel) const {
-
-  Eigen::Vector3d velocityError = _frameData.linearVelocityWorld - _frameData.pose.linear() * _cmdVel.linear;
-
-  Eigen::Vector3d accelCommand = velocityError.cwiseProduct(this->controllerParameters.velocityGain) / this->vehicleParameters.mass;
-
-  accelCommand = accelCommand.cwiseAbs().cwiseMin(this->controllerParameters.maxLinearAcceleration).cwiseProduct(accelCommand.cwiseSign());
-
-  return accelCommand + this->vehicleParameters.gravity;
-}
-
-//}
-
-/* ComputeDesiredAngularAcc() //{ */
-
-Eigen::Vector3d LeeVelocityController::ComputeDesiredAngularAcc(const FrameData &_frameData, const EigenTwist &_cmdVel,
-                                                                const Eigen::Vector3d &_acceleration) const {
-  const Eigen::Matrix3d &rot = _frameData.pose.linear();
-
-  // Get the desired rotation matrix.
-  Eigen::Vector3d b1Des = rot.col(0);
-
-  Eigen::Vector3d b3Des;
-  b3Des = -_acceleration / _acceleration.norm();
-
-  // Check if b1 and b3 are parallel. If so, choose a different b1 vector. This
-  // could happen if the UAV is rotated by 90 degrees w.r.t the horizontal
-  // plane.
-  const double tol = 1e-3;
-  if (b1Des.cross(b3Des).squaredNorm() < tol) {
-    // acceleration and b1 are parallel. Choose a different vector
-    b1Des = rot.col(1);
-
-    if (b1Des.cross(b3Des).squaredNorm() < tol) {
-      b1Des = rot.col(2);
-    }
-  }
-
-  Eigen::Vector3d b2Des;
-  b2Des = b3Des.cross(b1Des);
-  b2Des.normalize();
-
-  Eigen::Matrix3d rotDes;
-  rotDes.col(0) = b2Des.cross(b3Des);
-  rotDes.col(1) = b2Des;
-  rotDes.col(2) = b3Des;
-
-  // Angle error according to lee et al.
-  Eigen::Matrix3d angleErrorMatrix = 0.5 * (rotDes.transpose() * rot - rot.transpose() * rotDes);
-  Eigen::Vector3d angleError       = vectorFromSkewMatrix(angleErrorMatrix);
-
-  Eigen::Vector3d angularRateDes(Eigen::Vector3d::Zero());
-  angularRateDes[2] = _cmdVel.angular[2];
-
-  // The paper shows
-  // e_omega = omega - R.T * R_d * omega_des
-  // The code in the RotorS implementation has
-  // e_omega = omega - R_d.T * R * omega_des
-  Eigen::Vector3d angularRateError = _frameData.angularVelocityBody - rot.transpose() * rotDes * angularRateDes;
-
-  // The following MOI terms are computed in the paper, but the RotorS
-  // implementation ignores them. They don't appear to make much of a
-  // difference.
-  // Eigen::Matrix3d moi = this->vehicleParameters.inertia;
-  // const Eigen::Vector3d &omega = _frameData.angularVelocityBody;
-
-  // Eigen::Vector3d moiTerm = omega.cross(moi * omega);
-
-  // Eigen::Vector3d moiTerm2 = moi * (skewMatrixFromVector(omega) *
-  //                            rot.transpose() * rotDes * angularRateDes);
-
-  // std::cout << moiTerm2.transpose() << std::endl;
-  // return -1 * angleError.cwiseProduct(this->normalizedAttitudeGain) -
-  //         angularRateError.cwiseProduct(this->normalizedAngularRateGain) +
-  //         moiTerm - moiTerm2;
-  return -1 * angleError.cwiseProduct(this->normalizedAttitudeGain) - angularRateError.cwiseProduct(this->normalizedAngularRateGain);
-}
-
-//}
-
-}  // namespace multicopter_control
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh b/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
deleted file mode 100644
index 5f07751a..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/LeeVelocityController.hh
+++ /dev/null
@@ -1,64 +0,0 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROL_LEEVELOCITYCONTROLLER_HH_
-
-#include <Eigen/Geometry>
-#include <memory>
-#include "ignition/gazebo/config.hh"
-
-#include "Common.hh"
-
-namespace ignition
-{
-namespace gazebo
-{
-
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-struct LeeVelocityControllerParameters
-{
-  Eigen::Vector3d velocityGain;
-  Eigen::Vector3d attitudeGain;
-  Eigen::Vector3d angularRateGain;
-  Eigen::Vector3d maxLinearAcceleration;
-};
-
-class LeeVelocityController {
-
-public:
-  static std::unique_ptr<LeeVelocityController> MakeController(const LeeVelocityControllerParameters &_controllerParams,
-                                                               const VehicleParameters &              _vehicleParams);
-
-  void CalculateRotorVelocities(const FrameData &_frameData, const EigenTwist &_cmdVel, Eigen::VectorXd &_rotorVelocities) const;
-
-private:
-  LeeVelocityController() = default;
-
-  Eigen::Vector3d ComputeDesiredAcceleration(const FrameData &_frameData, const EigenTwist &_cmdVel) const;
-
-  Eigen::Vector3d ComputeDesiredAngularAcc(const FrameData &_frameData, const EigenTwist &_cmdVel, const Eigen::Vector3d &_acceleration) const;
-
-  bool InitializeParameters();
-
-  LeeVelocityControllerParameters controllerParameters;
-
-  VehicleParameters vehicleParameters;
-
-  Eigen::Vector3d normalizedAttitudeGain;
-
-  Eigen::Vector3d normalizedAngularRateGain;
-
-  Eigen::MatrixX4d angularAccToRotorVelocities;
-};
-
-}  // namespace multicopter_control
-
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
-
-#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
deleted file mode 100644
index 296d0909..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.cc
+++ /dev/null
@@ -1,449 +0,0 @@
-/* includes //{ */
-
-#include <ignition/msgs/actuators.pb.h>
-#include <ignition/msgs/twist.pb.h>
-
-#include <limits>
-
-#include <ignition/common/Profiler.hh>
-
-#include <ignition/plugin/Register.hh>
-#include <ignition/transport/Node.hh>
-
-#include <ignition/math/Inertial.hh>
-#include <ignition/math/Vector3.hh>
-
-#include <ignition/math/eigen3/Conversions.hh>
-
-#include <sdf/sdf.hh>
-
-#include <ignition/gazebo/components/Actuators.hh>
-#include <ignition/gazebo/components/Gravity.hh>
-#include <ignition/gazebo/components/Inertial.hh>
-#include <ignition/gazebo/components/Link.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
-#include <ignition/gazebo/components/World.hh>
-#include <ignition/gazebo/Link.hh>
-#include <ignition/gazebo/Model.hh>
-
-#include <MRSMultirotorController.hh>
-
-//}
-
-/* using //{ */
-
-using namespace ignition;
-using namespace gazebo;
-using namespace systems;
-using namespace multicopter_control;
-
-//}
-
-// | -------------------- plugin interface -------------------- |
-
-/* Configure() //{ */
-
-void MRSMultirotorController::Configure(const Entity &entity, const std::shared_ptr<const sdf::Element> &sdf, EntityComponentManager &ecm, EventManager &) {
-
-  // init ros node
-  int    argc = 0;
-  char **argv = NULL;
-  ros::init(argc, argv, "mrs_multirotor_controller", ros::init_options::NoSigintHandler);
-  ros::NodeHandle ros_nh = ros::NodeHandle("~");
-
-  ROS_INFO("[%s]: initializing", ros::this_node::getName().c_str());
-
-  {  // gazebo model
-
-    _gazebo_model_ = Model(entity);
-
-    if (!_gazebo_model_.Valid(ecm)) {
-      ignerr << "MRSMultirotorController plugin should be attached to a model "
-             << "entity. Failed to initialize." << std::endl;
-      return;
-    }
-  }
-
-  auto sdf_clone = sdf->Clone();
-
-  {  // get the com link name
-
-    if (sdf_clone->HasElement("comLinkName")) {
-      _gazebo_model_entity_name_ = sdf_clone->Get<std::string>("comLinkName");
-    }
-
-    if (_gazebo_model_entity_name_.empty()) {
-      ignerr << "found an empty comLinkName parameter. Failed to initialize.\n";
-      return;
-    }
-  }
-
-  {  // get the link entity
-
-    _gazebo_model_entity_ = _gazebo_model_.LinkByName(ecm, _gazebo_model_entity_name_);
-
-    if (_gazebo_model_entity_ == kNullEntity) {
-      ignerr << "Link " << _gazebo_model_entity_name_ << " could not be found. Failed to initialize.\n";
-      return;
-    }
-  }
-
-  createFrameDataComponents(ecm, _gazebo_model_entity_);
-
-  VehicleParameters vehicleParams;
-
-  math::Inertiald vehicleInertial;
-
-  // Compute the vehicle's moment of inertia and mass assuming that all the
-  // links in the model belong to the vehicle.
-  for (const Entity &link : ecm.ChildrenByComponents(_gazebo_model_.Entity(), components::Link())) {
-    auto inertial = ecm.Component<components::Inertial>(link);
-    if (nullptr == inertial) {
-      ignerr << "Could not find inertial component on on link " << _gazebo_model_entity_name_ << std::endl;
-      return;
-    }
-    vehicleInertial += inertial->Data();
-  }
-
-  vehicleParams.mass    = vehicleInertial.MassMatrix().Mass();
-  vehicleParams.inertia = math::eigen3::convert(vehicleInertial.Moi());
-
-  if (sdf_clone->HasElement("rotorConfiguration")) {
-    vehicleParams.rotorConfiguration = loadRotorConfiguration(ecm, sdf_clone->GetElement("rotorConfiguration"), _gazebo_model_, _gazebo_model_entity_);
-  } else {
-    ignerr << "Please specify rotorConfiguration.\n";
-  }
-
-  rotor_velocities_.resize(vehicleParams.rotorConfiguration.size());
-
-  auto worldEntity = ecm.EntityByComponents(components::World());
-
-  if (kNullEntity == worldEntity) {
-    ignerr << "World entity missing." << std::endl;
-    return;
-  }
-
-  // Get the world acceleration (defined in world frame)
-  auto gravityComp = ecm.Component<components::Gravity>(worldEntity);
-
-  if (nullptr == gravityComp) {
-    ignerr << "World missing gravity." << std::endl;
-    return;
-  }
-
-  vehicleParams.gravity = math::eigen3::convert(gravityComp->Data());
-
-  BacaSE3ControllerParameters controller_parameters;
-
-  if (sdf_clone->HasElement("velocityGain")) {
-    controller_parameters.velocity_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("velocityGain"));
-  } else {
-    ignerr << "Please specify velocityGain for MRSMultirotorController.\n";
-    return;
-  }
-
-  if (sdf_clone->HasElement("attitudeGain")) {
-    controller_parameters.attitude_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("attitudeGain"));
-  } else {
-    ignerr << "Please specify attitudeGain for MRSMultirotorController.\n";
-    return;
-  }
-
-  if (sdf_clone->HasElement("angularRateGain")) {
-    controller_parameters.angular_rate_gain = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("angularRateGain"));
-  } else {
-    ignerr << "Please specify angularRateGain MRSMultirotorController.\n";
-    return;
-  }
-
-  if (sdf_clone->HasElement("maximumLinearAcceleration")) {
-    controller_parameters.max_linear_acceleration = math::eigen3::convert(sdf_clone->Get<math::Vector3d>("maximumLinearAcceleration"));
-  } else {
-    controller_parameters.max_linear_acceleration.setConstant(std::numeric_limits<double>::max());
-  }
-
-  if (sdf_clone->HasElement("_maximum_linear_velocity_")) {
-    _maximum_linear_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_linear_velocity_").Abs();
-  } else {
-    _maximum_linear_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
-  }
-
-  if (sdf_clone->HasElement("_maximum_angular_velocity_")) {
-    _maximum_angular_velocity_ = sdf_clone->Get<math::Vector3d>("_maximum_angular_velocity_").Abs();
-  } else {
-    _maximum_angular_velocity_.Set(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
-  }
-
-  multirotor_controller_ptr_ = std::make_unique<multicopter_control::BacaSE3Controller>(controller_parameters, vehicleParams);
-
-  if (nullptr == multirotor_controller_ptr_) {
-    ignerr << "Error while creating the LeeVelocityController\n";
-    return;
-  }
-
-  math::Vector3d linearVelocityMean{0, 0, 0};
-  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseMean", linearVelocityMean, linearVelocityMean);
-
-  math::Vector3d linearVelocityStdDev{0, 0, 0};
-  sdf_clone->Get<math::Vector3d>("linearVelocityNoiseStdDev", linearVelocityStdDev, linearVelocityStdDev);
-
-  math::Vector3d angularVelocityMean{0, 0, 0};
-  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseMean", angularVelocityMean, angularVelocityMean);
-
-  math::Vector3d angularVelocityStdDev{0, 0, 0};
-  sdf_clone->Get<math::Vector3d>("angularVelocityNoiseStdDev", angularVelocityStdDev, angularVelocityStdDev);
-
-  _noise_parameters_.linearVelocityMean    = math::eigen3::convert(linearVelocityMean);
-  _noise_parameters_.linearVelocityStdDev  = math::eigen3::convert(linearVelocityStdDev);
-  _noise_parameters_.angularVelocityMean   = math::eigen3::convert(angularVelocityMean);
-  _noise_parameters_.angularVelocityStdDev = math::eigen3::convert(angularVelocityStdDev);
-
-  if (sdf_clone->HasElement("robotNamespace")) {
-    _robot_namespace_ = transport::TopicUtils::AsValidTopic(sdf_clone->Get<std::string>("robotNamespace"));
-    if (_robot_namespace_.empty()) {
-      ignerr << "Robot namespace [" << sdf_clone->Get<std::string>("robotNamespace") << "] is invalid." << std::endl;
-      return;
-    }
-  } else {
-    ignerr << "Please specify a robotNamespace.\n";
-    return;
-  }
-
-  sdf_clone->Get<std::string>("commandSubTopic", _cmd_vel_topic_, _cmd_vel_topic_);
-  _cmd_vel_topic_ = transport::TopicUtils::AsValidTopic(_cmd_vel_topic_);
-  if (_cmd_vel_topic_.empty()) {
-    ignerr << "Invalid command sub-topic." << std::endl;
-    return;
-  }
-
-  sdf_clone->Get<std::string>("enableSubTopic", _enable_topic_, _enable_topic_);
-  _enable_topic_ = transport::TopicUtils::AsValidTopic(_enable_topic_);
-  if (_enable_topic_.empty()) {
-    ignerr << "Invalid enable sub-topic." << std::endl;
-    return;
-  }
-
-  // Subscribe to actuator command messages
-  std::string topic{_robot_namespace_ + "/" + _cmd_vel_topic_};
-
-  ignition_node_.Subscribe(topic, &MRSMultirotorController::OnTwist, this);
-  ignmsg << "MRSMultirotorController subscribing to Twist messages on [" << topic << "]" << std::endl;
-
-  std::string enableTopic{_robot_namespace_ + "/" + _enable_topic_};
-  ignition_node_.Subscribe(enableTopic, &MRSMultirotorController::OnEnable, this);
-  ignmsg << "MRSMultirotorController subscribing to Boolean messages on [" << enableTopic << "]" << std::endl;
-
-  // Create the Actuators component to take control of rotor speeds
-  rotor_velocities_msg_.mutable_velocity()->Resize(rotor_velocities_.size(), 0);
-
-  ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
-
-  // --------------------------------------------------------------
-  // |                   custom ROS subscribers                   |
-  // --------------------------------------------------------------
-
-  std::string robot_name = _gazebo_model_.Name(ecm);
-
-  subscriber_feedforward_ =
-      ros_nh.subscribe(robot_name + "/feedforward", 1, &MRSMultirotorController::callbackFeedForward, this, ros::TransportHints().tcpNoDelay());
-
-  // | ---------------- finish the initialization --------------- |
-
-  ROS_INFO("[%s]: initialized", ros::this_node::getName().c_str());
-
-  is_initialized_ = true;
-}
-
-//}
-
-/* PreUpdate() //{ */
-
-void MRSMultirotorController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) {
-
-  IGN_PROFILE("MRSMultirotorController::PreUpdate");
-
-  if (!is_initialized_) {
-    return;
-  }
-
-  msgs::Twist cmd_vel;
-
-  {
-    std::scoped_lock lock(mutex_cmd_vel_);
-
-    if (!cmd_vel_.has_value()) {
-      return;
-    }
-
-    cmd_vel = cmd_vel_.value();
-  }
-
-  marble_qav500_sensor_config_1::ControlReference feedforward;
-
-  {
-    std::scoped_lock lock(mutex_feedforward_);
-
-    if (feedforward_.has_value()) {
-      feedforward = feedforward_.value();
-      ROS_INFO_THROTTLE(5.0, "[%s]: using the feedforward for control", ros::this_node::getName().c_str());
-    }
-  }
-
-  // | ---------------------- spin the ROS ---------------------- |
-  ros::spinOnce();
-
-  if (_info.dt < std::chrono::steady_clock::duration::zero()) {
-    ignwarn << "Detected jump back in time [" << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count() << "s]. System may not work properly."
-            << std::endl;
-  }
-
-  // nothing left to do if paused.
-  if (_info.paused) {
-    return;
-  }
-
-  if (!is_active_) {
-
-    // if the last published rotor velocities were not 0, publish zero velocities
-    if (rotor_velocities_.squaredNorm() > 0) {
-      rotor_velocities_.setZero();
-      this->PublishRotorVelocities(ecm, rotor_velocities_);
-
-      // clear the cmd_vel_ so that the system waits for a new command after being renabled.
-      std::lock_guard<std::mutex> lock(mutex_cmd_vel_);
-      cmd_vel_.reset();
-    }
-
-    return;
-  }
-
-  // | ------------- prepare the velocity reference ------------- |
-
-  EigenTwist cmd_vel_eigen;
-
-  // saturate to maximum allowed velocity
-  math::Vector3d linear = msgs::Convert(cmd_vel.linear());
-  linear.Min(_maximum_linear_velocity_);
-  linear.Max(-_maximum_linear_velocity_);
-
-  // saturate to maximum allowed angular velocity
-  math::Vector3d angular = msgs::Convert(cmd_vel.angular());
-  angular.Min(_maximum_angular_velocity_);
-  angular.Max(-_maximum_angular_velocity_);
-
-  cmd_vel_eigen.linear  = math::eigen3::convert(linear);
-  cmd_vel_eigen.angular = math::eigen3::convert(angular);
-
-  // | ------------ prepare the feedforward reference ----------- |
-
-  BacaSE3ControllerFeedforward cmd_feedforward;
-
-  cmd_feedforward.acceleration[0] = feedforward.acceleration.x;
-  cmd_feedforward.acceleration[1] = feedforward.acceleration.y;
-  cmd_feedforward.acceleration[2] = feedforward.acceleration.z;
-
-  cmd_feedforward.jerk[0] = feedforward.jerk.x;
-  cmd_feedforward.jerk[1] = feedforward.jerk.y;
-  cmd_feedforward.jerk[2] = feedforward.jerk.z;
-
-  // | ------------ get the UAV model simulator data ------------ |
-
-  std::optional<FrameData> frameData = getFrameData(ecm, _gazebo_model_entity_, _noise_parameters_);
-
-  if (!frameData.has_value()) {
-    return;
-  }
-
-  // | -------------- calculate the control action -------------- |
-
-  rotor_velocities_ = multirotor_controller_ptr_->CalculateRotorVelocities(frameData.value(), cmd_vel_eigen, cmd_feedforward);
-
-  // publish the control action
-  PublishRotorVelocities(ecm, rotor_velocities_);
-}
-
-//}
-
-/* OnTwist() //{ */
-
-void MRSMultirotorController::OnTwist(const msgs::Twist &msg) {
-
-  {
-    std::scoped_lock lock(mutex_cmd_vel_);
-
-    cmd_vel_ = msg;
-  }
-
-  ROS_INFO_THROTTLE(1.0, "[%s]: MRS controller at work", ros::this_node::getName().c_str());
-}
-
-//}
-
-/* OnEnabled() //{ */
-
-void MRSMultirotorController::OnEnable(const msgs::Boolean &msg) {
-
-  is_active_ = msg.data();
-}
-
-//}
-
-/* PublishRotorVelocities() //{ */
-
-void MRSMultirotorController::PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels) {
-
-  // check the size of the message
-  if (vels.size() != rotor_velocities_msg_.velocity_size()) {
-    rotor_velocities_msg_.mutable_velocity()->Resize(vels.size(), 0);
-  }
-
-  // fill in the velocities
-  for (int i = 0; i < vels.size(); ++i) {
-    rotor_velocities_msg_.set_velocity(i, vels(i));
-  }
-
-  // Publish the message by setting the Actuators component on the model entity.
-  // This assumes that the MulticopterMotorModel system is attached to this model
-  auto actuatorMsgComp = ecm.Component<components::Actuators>(_gazebo_model_.Entity());
-
-  if (actuatorMsgComp) {
-
-    auto compFunc = [](const msgs::Actuators &_a, const msgs::Actuators &_b) {
-      return std::equal(_a.velocity().begin(), _a.velocity().end(), _b.velocity().begin());
-    };
-
-    auto state = actuatorMsgComp->SetData(rotor_velocities_msg_, compFunc) ? ComponentState::PeriodicChange : ComponentState::NoChange;
-
-    ecm.SetChanged(_gazebo_model_.Entity(), components::Actuators::typeId, state);
-
-  } else {
-    ecm.CreateComponent(_gazebo_model_.Entity(), components::Actuators(rotor_velocities_msg_));
-  }
-}
-
-//}
-
-// | ------------------- custom MRS routines ------------------ |
-
-/* callbackFeedForward() //{ */
-
-void MRSMultirotorController::callbackFeedForward(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg) {
-
-  if (!is_initialized_) {
-    return;
-  }
-
-  {
-    std::scoped_lock lock(mutex_feedforward_);
-
-    feedforward_ = *msg;
-  }
-
-  ROS_INFO_THROTTLE(5.0, "[%s]: getting feedforward reference", ros::this_node::getName().c_str());
-}
-
-//}
-
-IGNITION_ADD_PLUGIN(MRSMultirotorController, ignition::gazebo::System, MRSMultirotorController::ISystemConfigure, MRSMultirotorController::ISystemPreUpdate)
-
-IGNITION_ADD_PLUGIN_ALIAS(MRSMultirotorController, "ignition::gazebo::systems::MRSMultirotorController")
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh b/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
deleted file mode 100644
index f7d3faf2..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/MRSMultirotorController.hh
+++ /dev/null
@@ -1,104 +0,0 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
-
-/* includes //{ */
-
-#include <Eigen/Geometry>
-#include <memory>
-#include <string>
-
-#include <ignition/transport/Node.hh>
-
-#include <ignition/gazebo/System.hh>
-#include "ignition/gazebo/Link.hh"
-#include "ignition/gazebo/Model.hh"
-
-#include <Common.hh>
-
-#include <ros/package.h>
-#include <ros/ros.h>
-#include <marble_qav500_sensor_config_1/ControlReference.h>
-
-#include <BacaSE3Controller.hh>
-
-//}
-
-namespace ignition
-{
-namespace gazebo
-{
-
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-class IGNITION_GAZEBO_VISIBLE MRSMultirotorController : public System, public ISystemConfigure, public ISystemPreUpdate {
-
-public:
-  MRSMultirotorController() = default;
-
-  void Configure(const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf, EntityComponentManager &ecm, EventManager &_eventMgr) override;
-
-  void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &ecm) override;
-
-private:
-  bool is_initialized_ = false;
-
-  // | ----------------------- parameters ----------------------- |
-
-  math::Vector3d _maximum_linear_velocity_;
-  math::Vector3d _maximum_angular_velocity_;
-
-  std::string _robot_namespace_;
-  std::string _cmd_vel_topic_{"cmd_vel"};
-  std::string _enable_topic_{"enable"};
-
-  std::string _gazebo_model_entity_name_;
-
-  // noise parameters
-  // noise to be added to the UAV states received from the simulator
-  multicopter_control::NoiseParameters _noise_parameters_;
-
-  // | -------------------- plugin interface -------------------- |
-
-  void OnTwist(const msgs::Twist &msg);
-  void OnEnable(const msgs::Boolean &msg);
-  void PublishRotorVelocities(ignition::gazebo::EntityComponentManager &ecm, const Eigen::VectorXd &vels);
-
-  // gazebo links and models
-  Model  _gazebo_model_{kNullEntity};
-  Entity _gazebo_model_entity_;
-
-  transport::Node ignition_node_;
-
-  Eigen::VectorXd rotor_velocities_;
-  msgs::Actuators rotor_velocities_msg_;
-
-  std::unique_ptr<multicopter_control::BacaSE3Controller> multirotor_controller_ptr_;
-
-  std::atomic<bool> is_active_{true};
-
-  // --------------------------------------------------------------
-  // |               subscriber to velocity command               |
-  // --------------------------------------------------------------
-
-  std::optional<msgs::Twist> cmd_vel_;
-  std::mutex                 mutex_cmd_vel_;
-
-  // --------------------------------------------------------------
-  // |            subscriber for feedforward reference            |
-  // --------------------------------------------------------------
-
-  void callbackFeedForward(const marble_qav500_sensor_config_1::ControlReferenceConstPtr &msg);
-
-  ros::Subscriber                                                subscriber_feedforward_;
-  std::optional<marble_qav500_sensor_config_1::ControlReference> feedforward_;
-  std::mutex                                                     mutex_feedforward_;
-};
-
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
-
-#endif
diff --git a/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh b/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
deleted file mode 100644
index af6b8005..00000000
--- a/submitted_models/marble_qav500_sensor_config_1/src/Parameters.hh
+++ /dev/null
@@ -1,51 +0,0 @@
-#ifndef IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
-#define IGNITION_GAZEBO_SYSTEMS_MULTICOPTER_CONTROLLER_PARAMETERS_HH_
-
-#include <Eigen/Geometry>
-#include <vector>
-#include <ignition/gazebo/config.hh>
-
-namespace ignition
-{
-namespace gazebo
-{
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
-namespace systems
-{
-namespace multicopter_control
-{
-struct Rotor
-{
-  double angle;
-  double armLength;
-  double forceConstant;
-  double momentConstant;
-  int    direction;
-};
-
-using RotorConfiguration = std::vector<Rotor>;
-
-struct VehicleParameters
-{
-  double             mass;
-  Eigen::Matrix3d    inertia;
-  Eigen::Vector3d    gravity;
-  RotorConfiguration rotorConfiguration;
-};
-
-struct NoiseParameters
-{
-  Eigen::Vector3d linearVelocityMean;
-  Eigen::Vector3d linearVelocityStdDev;
-  Eigen::Vector3d angularVelocityMean;
-  Eigen::Vector3d angularVelocityStdDev;
-};
-
-}  // namespace multicopter_control
-}  // namespace systems
-}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-}  // namespace gazebo
-}  // namespace ignition
-
-#endif

From a8448781849dfca807732188aca03bff849675ae Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Thu, 25 Mar 2021 21:21:47 +0100
Subject: [PATCH 18/22] fixed wrong cx of camera_front

---
 submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 7109bfa6..98293982 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -144,7 +144,7 @@
                       <fx>671.28</fx>
                       <fy>671.28</fy>
                       <!-- cx = ( width - 1 ) / 2 -->
-                      <cx>839.5</cx>
+                      <cx>799.5</cx>
                       <!-- cy = ( height - 1 ) / 2 -->
                       <cy>599.5</cy>
                       <s>0</s>

From dde7523ea0f73405c65f9a0840ff9f85d4ffed95 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Thu, 25 Mar 2021 22:23:39 +0100
Subject: [PATCH 19/22] changed hfov to correct value, calculation is in
 specifications.md

---
 .../ctu_cras_norlab_x500_sensor_config_1/model.sdf          | 2 +-
 .../ctu_cras_norlab_x500_sensor_config_1/specifications.md  | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 98293982..8d7bcc43 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -137,7 +137,7 @@
           <always_on>1</always_on>
           <update_rate>60</update_rate>
           <camera name="camera_front">
-              <horizontal_fov>1.74533</horizontal_fov>
+              <horizontal_fov>1.3344</horizontal_fov>
               <lens>
                   <intrinsics>
                       <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
index ec979b45..8f1246eb 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
@@ -30,6 +30,12 @@ The following specific sensors are declared payloads of this vehicle:
 * 1x HD wide camera - Basler dart daA1600-60um with DSL165A lens, modeled by `camera` plugin.
 * 1x IMU with standard SubT specification, modeled by `imu` plugin.
 
+### Basler HD wide camera field of view
+
+* horizontal sensor size x = 7.2 mm
+* lens focal length f = 4.57 mm
+* HFOV = 2 * atan((x/2)/f) = 1.3344 rad = 76.2 deg
+
 ## Control
 This X500 is controlled by the open-source [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers) package. 
 

From 0047be8ce14003ff022146015d68fd7b85eed528 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Thu, 25 Mar 2021 23:09:59 +0100
Subject: [PATCH 20/22] added barometer and magnetometer to model.sdf

---
 .../model.sdf                                 | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 8d7bcc43..09480dce 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -252,6 +252,42 @@
               </imu>
       </sensor>
 
+      <sensor name="air_pressure" type="air_pressure">
+          <always_on>1</always_on>
+          <update_rate>20</update_rate>
+          <air_pressure>
+              <reference_altitude>0</reference_altitude>
+              <noise type="gaussian">
+                  <mean>0.00000008</mean>
+              </noise>
+          </air_pressure>
+      </sensor>
+
+      <sensor name="magnetometer" type="magnetometer">
+          <always_on>1</always_on>
+          <update_rate>20</update_rate>
+          <magnetometer>
+              <x>
+                  <noise type="gaussian">
+                      <mean>0.000000080</mean>
+                      <bias_mean>0.000000400</bias_mean>
+                  </noise>
+              </x>
+              <y>
+                  <noise type="gaussian">
+                      <mean>0.000000080</mean>
+                      <bias_mean>0.000000400</bias_mean>
+                  </noise>
+              </y>
+              <z>
+                  <noise type="gaussian">
+                      <mean>0.000000080</mean>
+                      <bias_mean>0.000000400</bias_mean>
+                  </noise>
+              </z>
+          </magnetometer>
+      </sensor>
+
       <light name="light_front_left" type="spot">
         <pose>0.159099 0.152028 -0.0785 0 1.5708 2.35619</pose>
         <attenuation>

From 4b6275f7a6382793feca9ddf9af7d28f97c1787c Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 26 Mar 2021 12:38:24 +0100
Subject: [PATCH 21/22] changed camera_front HFoV to match real HW measurements

---
 submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
index 09480dce..09e2c709 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/model.sdf
@@ -137,7 +137,7 @@
           <always_on>1</always_on>
           <update_rate>60</update_rate>
           <camera name="camera_front">
-              <horizontal_fov>1.3344</horizontal_fov>
+              <horizontal_fov>1.7012</horizontal_fov>
               <lens>
                   <intrinsics>
                       <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->

From ca4424652046f1ef64269b74205f449a590c2918 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <petrlmat@fel.cvut.cz>
Date: Fri, 26 Mar 2021 12:47:22 +0100
Subject: [PATCH 22/22] updated specifications.md to match the real HW HFoV

---
 .../ctu_cras_norlab_x500_sensor_config_1/specifications.md     | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
index 8f1246eb..0a4c5893 100644
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/specifications.md
@@ -34,7 +34,8 @@ The following specific sensors are declared payloads of this vehicle:
 
 * horizontal sensor size x = 7.2 mm
 * lens focal length f = 4.57 mm
-* HFOV = 2 * atan((x/2)/f) = 1.3344 rad = 76.2 deg
+* HFoV = 2 * atan((x/2)/f) = 1.3344 rad = 76.2 deg
+* HFoV with the camera and lens on our [testbed](https://photos.google.com/u/1/share/AF1QipNFt3voXyQMq9E2hoaKImq9K2o2vBZdUgWQtd9WmCxNMdLBiPcG-QrDDGrBWJf5sQ?key=RVg1cjk0dGxXSF95Q1poXzRCd3ZESmZ1OEtxWUtR) is 97.47 deg
 
 ## Control
 This X500 is controlled by the open-source [mrs_uav_controllers](https://github.com/ctu-mrs/mrs_uav_controllers) package.