Mavlink plugin not working in custom urdf

[crazy-robotics]

I have custom urdf file which I make by following discussion to make my custom sitl vehicle work with Gazebo simulation and QGC so I can test my offboard code. I built my custom model by make px4_sitl gazebo-classic_my_custom_uav the drone launch in the gazebo but not connected to QGC and mavlink[info] messages are not showing on the terminal

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="my_custom_uav">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.0066871 0.00057296 0.071314"
        rpy="0 0 0" />
      <mass
        value="2.2494" />
      <inertia
        ixx="0.024649"
        ixy="-7.8701E-06"
        ixz="-4.0429E-06"
        iyy="0.024447"
        iyz="-1.0355E-05"
        izz="0.046713" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="m1">
    <inertial>
      <origin
        xyz="-0.000275758863509959 -0.00027577321010086 -0.0288987241999298"
        rpy="0 0 0" />
      <mass
        value="0.0102857652690979" />
      <inertia
        ixx="1.4471352439084E-06"
        ixy="2.46724635603962E-11"
        ixz="2.61968213356202E-09"
        iyy="1.44713594954588E-06"
        iyz="2.61993099804036E-09"
        izz="1.72167745600157E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="m1_joint"
    type="continuous">
    <origin
      xyz="0.11217 -0.10398 0.12615"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="m1" />
    <axis
      xyz="-0.0095408 -0.0095408 -0.99991" />
  </joint>
  <link
    name="m2">
    <inertial>
      <origin
        xyz="-0.000272221631635844 -0.000272255939544136 -0.0286865771873337"
        rpy="0 0 0" />
      <mass
        value="0.0102857478418043" />
      <inertia
        ixx="1.44713076137831E-06"
        ixy="2.29625650675118E-11"
        ixz="2.60557507064569E-09"
        iyy="1.4471320056128E-06"
        iyz="2.60579985646894E-09"
        izz="1.72167247935181E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="m2_joint"
    type="continuous">
    <origin
      xyz="-0.096433 0.10461 0.12615"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="m2" />
    <axis
      xyz="-0.0094894 -0.0094894 -0.99991" />
  </joint>
  <link
    name="m3">
    <inertial>
      <origin
        xyz="2.89490929838987E-09 -1.63433913485944E-08 -0.0287104001418812"
        rpy="0 0 0" />
      <mass
        value="0.0102857800929994" />
      <inertia
        ixx="1.44709571315124E-06"
        ixy="4.31100888110847E-13"
        ixz="-1.44573959844029E-14"
        iyy="1.44709405962182E-06"
        iyz="4.1500658909426E-14"
        izz="1.72177328424404E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="m3_joint"
    type="continuous">
    <origin
      xyz="0.11165 0.1041 0.12615"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="m3" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="m4">
    <inertial>
      <origin
        xyz="1.49283443939829E-08 7.41013032878879E-09 -0.0286372331979752"
        rpy="0 0 0" />
      <mass
        value="0.0102857482454295" />
      <inertia
        ixx="1.44709040698161E-06"
        ixy="-9.15033797187728E-13"
        ixz="-5.3723169747007E-14"
        iyy="1.44709203266332E-06"
        iyz="-2.82333857319929E-14"
        izz="1.72176589016756E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/m4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="m4_joint"
    type="continuous">
    <origin
      xyz="-0.096947 -0.1045 0.12615"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="m4" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="snrFront">
    <inertial>
      <origin
        xyz="-0.0177967661767461 4.53859066038183E-06 -0.00031595445755115"
        rpy="0 0 0" />
      <mass
        value="0.0417832231932906" />
      <inertia
        ixx="1.19955441736062E-05"
        ixy="4.71164873249512E-10"
        ixz="7.25520358462022E-09"
        iyy="6.2212244077722E-06"
        iyz="4.7974277200154E-10"
        izz="1.38274306764758E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrFront.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrFront.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="snrFront_joint"
    type="fixed">
    <origin
      xyz="0.18415 -0.00064622 0.046998"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="snrFront" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="snrRight">
    <inertial>
      <origin
        xyz="2.56888033192681E-06 0.0177967563442594 -0.000315977318943488"
        rpy="0 0 0" />
      <mass
        value="0.0417832516253194" />
      <inertia
        ixx="6.22153204590513E-06"
        ixy="-5.16098761563559E-10"
        ixz="4.79056100849948E-08"
        iyy="1.19955543161854E-05"
        iyz="-7.25258856330149E-09"
        izz="1.38271454207545E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrRight.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrRight.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="snrRight_joint"
    type="fixed">
    <origin
      xyz="0.0068085 -0.177 0.047111"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="snrRight" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="snrLeft">
    <inertial>
      <origin
        xyz="-6.49661415278525E-06 -0.0177967661425235 -0.00031592026237609"
        rpy="0 0 0" />
      <mass
        value="0.0417832225289182" />
      <inertia
        ixx="6.22151056501415E-06"
        ixy="-4.26229521809202E-10"
        ixz="4.6661314763127E-08"
        iyy="1.19955440673549E-05"
        iyz="7.25805879481062E-09"
        izz="1.38271444603464E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrLeft.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrLeft.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="snrLeft_joint"
    type="fixed">
    <origin
      xyz="0.0076985 0.1766 0.046887"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="snrLeft" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="snrBack">
    <inertial>
      <origin
        xyz="0.0177967661767452 4.53859066068172E-06 0.000315954457550827"
        rpy="0 0 0" />
      <mass
        value="0.0417832231932911" />
      <inertia
        ixx="1.19955441736059E-05"
        ixy="-4.71164873479946E-10"
        ixz="7.25520358459577E-09"
        iyy="6.22122440777232E-06"
        iyz="-4.79742771489464E-10"
        izz="1.38274306764757E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrBack.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrBack.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="snrBack_joint"
    type="fixed">
    <origin
      xyz="-0.16945 0.00023378 0.046995"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="snrBack" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="snrDown">
    <inertial>
      <origin
        xyz="0.000315954457550942 -4.53859066055956E-06 0.0177967661767461"
        rpy="0 0 0" />
      <mass
        value="0.0417832231932894" />
      <inertia
        ixx="1.38274306764755E-05"
        ixy="4.79742771011211E-10"
        ixz="7.25520358460153E-09"
        iyy="6.22122440777185E-06"
        iyz="4.71164873348793E-10"
        izz="1.1995544173606E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrDown.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/snrDown.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="snrDown_joint"
    type="fixed">
    <origin
      xyz="0.061376 -0.00022611 -0.006"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="snrDown" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="lidar_link">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/lidar_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://my_custom_uav/meshes/lidar_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="lidar_joint"
    type="fixed">
    <origin
      xyz="0.0073529 -0.00020118 0.1646"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="lidar_link" />
    <axis
      xyz="0 0 0" />
  </joint>

<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
      <robotNamespace/>
      <linkName>base_link</linkName>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m1_joint</jointName>
      <linkName>m1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m2_joint</jointName>
      <linkName>m2</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m3_joint</jointName>
      <linkName>m3</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m4_joint</jointName>
      <linkName>m4</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <!-- <include>
      <uri>model://gps</uri>
      <pose>0.05 0 0.04 0 0 0</pose>
      <name>gps0</name>
    </include>
    <joint name='gps0_joint' type='fixed'>
      <child>gps0::link</child>
      <parent>base_link</parent>
    </joint> -->
    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
      <robotNamespace/>
    </plugin>
    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
      <robotNamespace/>
      <pubRate>100</pubRate>
      <noiseDensity>0.0004</noiseDensity>
      <randomWalk>6.4e-06</randomWalk>
      <biasCorrelationTime>600</biasCorrelationTime>
      <magTopic>/mag</magTopic>
    </plugin>
    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
      <robotNamespace/>
      <pubRate>50</pubRate>
      <baroTopic>/baro</baroTopic>
      <baroDriftPaPerSec>0</baroDriftPaPerSec>
    </plugin>

    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
      <robotNamespace/>
      <linkName>/base_link</linkName>
      <imuTopic>/imu</imuTopic>
      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
    </plugin>



    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace/>
      <imuSubTopic>/imu</imuSubTopic>
      <magSubTopic>/mag</magSubTopic>
      <baroSubTopic>/baro</baroSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_tcp_port>4560</mavlink_tcp_port>
      <mavlink_udp_port>14560</mavlink_udp_port>
      <serialEnabled>0</serialEnabled>
      <serialDevice>/dev/ttyACM0</serialDevice>
      <baudRate>921600</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <sdk_addr>INADDR_ANY</sdk_addr>
      <sdk_udp_port>14540</sdk_udp_port>
      <hil_mode>0</hil_mode>
      <hil_state_level>0</hil_state_level>
      <send_vision_estimation>0</send_vision_estimation>
      <send_odometry>1</send_odometry>
      <enable_lockstep>1</enable_lockstep>
      <use_tcp>1</use_tcp>
      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
      <control_channels>
        <channel name='m1'>
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='m2'>
          <input_index>1</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='m3'>
          <input_index>2</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='m4'>
          <input_index>3</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='m5'>
          <input_index>4</input_index>
          <input_offset>1</input_offset>
          <input_scaling>324.6</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
          <joint_control_pid>
            <p>0.1</p>
            <i>0</i>
            <d>0</d>
            <iMax>0.0</iMax>
            <iMin>0.0</iMin>
            <cmdMax>2</cmdMax>
            <cmdMin>-2</cmdMin>
          </joint_control_pid>
          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
        </channel>
        <channel name='m6'>
          <input_index>5</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='m7'>
          <input_index>6</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='m8'>
          <input_index>7</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
        </channel>
      </control_channels>
    </plugin>
    <!-- <static>0</static> -->

</robot>

[hamishwillee]

@Jaeyoung-Lim You're the right person to look at issues in this repo right?

[Jaeyoung-Lim]

@hamishwillee Yes,

@crazy-robotics Unfortunately it is hard for me to debug custom implementations. Please ask specific questions related to this repository that would be useful for debugging your problem.

[crazy-robotics]

Thanks, seniors for replying I fixed it by manually looking at my URDF file generated from solidworks to urdf exporter and replacing in iris model now I facing the issue drone arm by QGC and do not taking off I don't know may be due to over weight or what look at the issue. masses and material of the drone carefully selected in Solidworks replica of original drone