diff --git a/.github/workflows/catkin_lint.yml b/.github/workflows/catkin_lint.yml
index 971df95f9..6c6046751 100644
--- a/.github/workflows/catkin_lint.yml
+++ b/.github/workflows/catkin_lint.yml
@@ -28,4 +28,4 @@ jobs:
           wstool init
           wstool merge aerial_robot_noetic.rosinstall
           wstool update
-          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial
+          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio
diff --git a/.travis.sh b/.travis.sh
index 89eb8bd9a..df8f561a0 100644
--- a/.travis.sh
+++ b/.travis.sh
@@ -59,6 +59,16 @@ if [ ${ROS_DISTRO} = 'kinetic' ]; then
     wget https://raw.githubusercontent.com/osrf/gazebo_models/master/ground_plane/model.config -P ${path}
 fi
 
+if [[ "$ROS_DISTRO" = "kinetic" ]]; then
+    # to use c++17
+    sudo apt-get install -y software-properties-common
+    sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+    sudo apt update
+    sudo apt install -y g++-7
+    export CXX='g++-7'
+    export CC='gcc-7'
+fi
+
 # Build
 catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 catkin build -p1 -j1 --no-status
diff --git a/aerial_robot_base/CMakeLists.txt b/aerial_robot_base/CMakeLists.txt
index 72a5a4522..22418aa88 100644
--- a/aerial_robot_base/CMakeLists.txt
+++ b/aerial_robot_base/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_python_setup()
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/aerial_robot_base/bin/rosbag_control_data.sh b/aerial_robot_base/bin/rosbag_control_data.sh
index 00486cea9..4a99aa277 100755
--- a/aerial_robot_base/bin/rosbag_control_data.sh
+++ b/aerial_robot_base/bin/rosbag_control_data.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid  $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data  $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states  ${@:2}
+rosrun aerial_robot_base rosbag_raw_sensors.sh $1 rosout rosout_agg $1/four_axes/command $1/rpy/pid  $1/rpy/gain $1/debug/pose/pid $1/desire_coordinate $1/flight_config_cmd $1/kf/imu1/data  $1/kf/alt1/data $1/kf/gps1/data $1/kf/mocap1/data $1/kf/vo1/data $1/ground_truth $1/debug/four_axes/gain $1/motor_info $1/p_matrix_pseudo_inverse_inertia $1/servo/torque_enable $1/servo/target_states /tf_static /tf $1/uav/baselink/odom $1/uav/cog/odom $1/uav/full_state $1/uav_info $1/uav_power $1/uav/nav $1/joints_ctrl $1/joint_states $1/joy ${@:2}
diff --git a/aerial_robot_base/config/sensors/lio/livox_mid360.yaml b/aerial_robot_base/config/sensors/lio/livox_mid360.yaml
new file mode 100644
index 000000000..22b1a3456
--- /dev/null
+++ b/aerial_robot_base/config/sensors/lio/livox_mid360.yaml
@@ -0,0 +1,16 @@
+sensor_plugin:
+  vo:
+    vo_sub_topic_name: Odometry_precede
+    level_pos_noise_sigma: 0.01  # 0.01 is better that 0.001
+    z_pos_noise_sigma: 0.01 # 0.01 is better than 0.001
+    z_vel_mode: false
+    vel_noise_sigma: 0.01 # TODO: modification
+    sensor_frame: lidar_imu
+    reference_frame: fc
+    vio_mode: true
+    local_vel_mode: false # the twist/twist/velocity is described in global frame
+    time_sync: false
+    reset_duration: 0.5
+
+    fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2
+    #param_verbose: true
diff --git a/aerial_robot_base/launch/external_module/mocap.launch b/aerial_robot_base/launch/external_module/mocap.launch
index 8a083dac1..728a66bdd 100644
--- a/aerial_robot_base/launch/external_module/mocap.launch
+++ b/aerial_robot_base/launch/external_module/mocap.launch
@@ -6,8 +6,7 @@
     type="mocap_node"
     name="mocap_node"
     respawn="false"
-    launch-prefix=""
-    required="true">
+    launch-prefix="">
     <rosparam subst_value="true">
       rigid_bodies:
          '$(arg robot_id)':
diff --git a/aerial_robot_control/CMakeLists.txt b/aerial_robot_control/CMakeLists.txt
index 001c62619..edfd207a1 100644
--- a/aerial_robot_control/CMakeLists.txt
+++ b/aerial_robot_control/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_control)
 
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_estimation
@@ -38,7 +38,7 @@ set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DNDEBUG")
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES control_utils flight_control_pluginlib flight_navigation
+  LIBRARIES control_utils flight_control_pluginlib flight_navigation trajectory_generation
   CATKIN_DEPENDS aerial_robot_estimation aerial_robot_model aerial_robot_msgs dynamic_reconfigure pluginlib roscpp spinal tf
 )
 
@@ -69,13 +69,38 @@ add_dependencies(flight_control_pluginlib  ${PROJECT_NAME}_gencfg)
 add_library (flight_navigation src/flight_navigation.cpp)
 target_link_libraries (flight_navigation ${catkin_LIBRARIES})
 
+### trajectory generate based on dodgelib
+add_library (trajectory_generation
+  src/trajectory/reference_base.cpp
+  src/trajectory/trajectory_reference/polynomial.cpp
+  src/trajectory/trajectory_reference/polynomial_trajectory.cpp
+  src/trajectory/trajectory_reference/sampled_trajectory.cpp
+  src/trajectory/base/parameter_base.cpp
+  src/trajectory/math/math.cpp
+  src/trajectory/types/command.cpp
+  src/trajectory/types/quad_state.cpp
+  src/trajectory/types/quadrotor.cpp
+  src/trajectory/utils/logger.cpp
+  src/trajectory/utils/timer.cpp
+  )
+target_link_libraries (trajectory_generation ${catkin_LIBRARIES})
+
+add_executable(trajectory_generation_node src/trajectory/test.cpp)
+target_link_libraries (trajectory_generation_node ${catkin_LIBRARIES} trajectory_generation)
+
+
+
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-install(TARGETS control_utils flight_control_pluginlib flight_navigation
+install(TARGETS control_utils flight_control_pluginlib flight_navigation trajectory_generation
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
+install(TARGETS trajectory_generation_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 install(DIRECTORY scripts plugins
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
diff --git a/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
index fdcb82a00..8dc30d75a 100644
--- a/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
+++ b/aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
@@ -84,7 +84,7 @@ namespace aerial_robot_control
 
     tf::Vector3 pos_, target_pos_;
     tf::Vector3 vel_, target_vel_;
-    tf::Vector3 target_acc_;
+    tf::Vector3 target_acc_, target_ang_acc_;
     tf::Vector3 rpy_, target_rpy_;
     tf::Vector3 omega_, target_omega_;
 
diff --git a/aerial_robot_control/include/aerial_robot_control/control/under_actuated_lqi_controller.h b/aerial_robot_control/include/aerial_robot_control/control/under_actuated_lqi_controller.h
index dff98b775..1a8ab4299 100644
--- a/aerial_robot_control/include/aerial_robot_control/control/under_actuated_lqi_controller.h
+++ b/aerial_robot_control/include/aerial_robot_control/control/under_actuated_lqi_controller.h
@@ -105,6 +105,7 @@ namespace aerial_robot_control
     virtual void sendCmd() override;
     virtual void sendFourAxisCommand();
 
+    Eigen::MatrixXd getQInv();
     virtual void allocateYawTerm();
     void cfgLQICallback(aerial_robot_control::LQIConfig &config, uint32_t level); //dynamic reconfigure
 
diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
index 9bf3cec77..6af31d67d 100644
--- a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
+++ b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
@@ -6,6 +6,7 @@
 #include <aerial_robot_msgs/FlightNav.h>
 #include <angles/angles.h>
 #include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/PoseStamped.h>
 #include <ros/ros.h>
 #include <sensor_msgs/Joy.h>
 #include <spinal/FlightConfigCmd.h>
@@ -13,6 +14,8 @@
 #include <std_msgs/Float32.h>
 #include <std_msgs/Int8.h>
 #include <std_msgs/UInt8.h>
+#include <nav_msgs/Path.h>
+#include <aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp>
 
 namespace aerial_robot_navigation
 {
@@ -75,6 +78,7 @@ namespace aerial_robot_navigation
     inline tf::Vector3 getTargetAcc() {return target_acc_;}
     inline tf::Vector3 getTargetRPY() {return target_rpy_;}
     inline tf::Vector3 getTargetOmega() {return target_omega_;}
+    inline tf::Vector3 getTargetAngAcc() {return target_ang_acc_;}
 
     inline void setTargetPos(tf::Vector3 pos) { target_pos_ = pos; }
     inline void setTargetPos(double x, double y, double z) { setTargetPos(tf::Vector3(x, y, z)); }
@@ -88,12 +92,22 @@ namespace aerial_robot_navigation
     inline void setTargetZeroAcc() { setTargetAcc(tf::Vector3(0,0,0)); }
 
     inline void setTargetRoll(float value) { target_rpy_.setX(value); }
+    inline void setTargetOmega(tf::Vector3 omega) { target_omega_ = omega; }
+    inline void setTargetOmega(double x, double y, double z) { setTargetOmega(tf::Vector3(x, y, z)); }
+    inline void setTargetZeroOmega() { setTargetOmega(0,0,0); }
     inline void setTargetOmegaX(float value) { target_omega_.setX(value); }
     inline void setTargetPitch(float value) { target_rpy_.setY(value); }
     inline void setTargetOmegaY(float value) { target_omega_.setY(value); }
     inline void setTargetYaw(float value) { target_rpy_.setZ(value); }
     inline void addTargetYaw(float value) { setTargetYaw(angles::normalize_angle(target_rpy_.z() + value)); }
     inline void setTargetOmegaZ(float value) { target_omega_.setZ(value); }
+    inline void setTargetAngAcc(tf::Vector3 acc) { target_ang_acc_ = acc; }
+    inline void setTargetAngAcc(double x, double y, double z) { setTargetAngAcc(tf::Vector3(x, y, z)); }
+    inline void setTargetZeroAngAcc() { setTargetAngAcc(tf::Vector3(0,0,0)); }
+    inline void setTargetAngAccX(double value) { target_ang_acc_.setX(value); }
+    inline void setTargetAngAccY(double value) { target_ang_acc_.setY(value); }
+    inline void setTargetAngAccZ(double value) { target_ang_acc_.setZ(value); }
+
     inline void setTargetPosX( float value){  target_pos_.setX(value);}
     inline void setTargetVelX( float value){  target_vel_.setX(value);}
     inline void setTargetAccX( float value){  target_acc_.setX(value);}
@@ -116,6 +130,8 @@ namespace aerial_robot_navigation
     uint8_t getEstimateMode(){ return estimate_mode_;}
     void setEstimateMode(uint8_t estimate_mode){ estimate_mode_ = estimate_mode;}
 
+    void generateNewTrajectory(geometry_msgs::PoseStamped pose);
+
     static constexpr uint8_t POS_CONTROL_COMMAND = 0;
     static constexpr uint8_t VEL_CONTROL_COMMAND = 1;
 
@@ -219,7 +235,10 @@ namespace aerial_robot_navigation
     ros::Publisher  flight_config_pub_;
     ros::Publisher  power_info_pub_;
     ros::Publisher  flight_state_pub_;
+    ros::Publisher  path_pub_;
     ros::Subscriber navi_sub_;
+    ros::Subscriber pose_sub_;
+    ros::Subscriber simple_move_base_goal_sub_;
     ros::Subscriber battery_sub_;
     ros::Subscriber flight_status_ack_sub_;
     ros::Subscriber takeoff_sub_;
@@ -266,7 +285,7 @@ namespace aerial_robot_navigation
 
     /* target value */
     tf::Vector3 target_pos_, target_vel_, target_acc_;
-    tf::Vector3 target_rpy_, target_omega_;
+    tf::Vector3 target_rpy_, target_omega_, target_ang_acc_;
 
     double takeoff_height_;
     double init_height_;
@@ -307,17 +326,28 @@ namespace aerial_robot_navigation
 
     std::string teleop_local_frame_;
 
+    /* trajectory */
+    double trajectory_mean_vel_;
+    double trajectory_mean_yaw_rate_;
+    double trajectory_min_du_;
+    bool enable_latch_yaw_trajectory_;
+    std::shared_ptr<agi::MinJerkTrajectory> traj_generator_ptr_;
+
     /* battery info */
     double low_voltage_thre_;
     bool low_voltage_flag_;
+    double high_voltage_cell_thre_;
+    bool high_voltage_flag_;
     int bat_cell_;
     double bat_resistance_;
     double bat_resistance_voltage_rate_;
     double hovering_current_;
 
     virtual void rosParamInit();
-    void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg);
-    void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg);
+    void poseCallback(const geometry_msgs::PoseStampedConstPtr & msg);
+    void simpleMoveBaseGoalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
+    virtual void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg);
+    virtual void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg);
     void batteryCheckCallback(const std_msgs::Float32ConstPtr &msg);
 
     virtual void halt() {}
@@ -433,9 +463,6 @@ namespace aerial_robot_navigation
       if(!teleop_flag_) return;
 
       setNaviState(LAND_STATE);
-
-      setTargetXyFromCurrentState();
-      setTargetYawFromCurrentState();
       ROS_INFO("Land state");
     }
 
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/base/module.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/base/module.hpp
new file mode 100644
index 000000000..5d961e3f8
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/base/module.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <memory>
+
+#include "aerial_robot_control/trajectory/utils/logger.hpp"
+
+namespace agi {
+
+template<typename Derived>
+class Module {
+ public:
+  Module(const std::string& name) : logger_(name) {}
+  virtual ~Module() {}
+
+  inline const std::string& name() const { return logger_.name(); }
+  virtual void logTiming() const {};
+
+ protected:
+  Logger logger_;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/base/parameter_base.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/base/parameter_base.hpp
new file mode 100644
index 000000000..97475e344
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/base/parameter_base.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include <aerial_robot_control/trajectory/utils/filesystem.hpp>
+#include <exception>
+#include <sstream>
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+#include "aerial_robot_control/trajectory/utils/filesystem.hpp"
+#include "aerial_robot_control/trajectory/utils/yaml.hpp"
+
+namespace agi {
+
+
+struct ParameterException : public std::exception {
+  ParameterException() = default;
+  ParameterException(const std::string& msg)
+    : msg(std::string("Dodgelib Parameter Exception: ") + msg) {}
+  const char* what() const throw() { return msg.c_str(); }
+
+  const std::string msg{"Dodgelib Parameter Exception"};
+};
+
+struct ParameterBase {
+  virtual ~ParameterBase() = default;
+  virtual bool load(const fs::path& filename);
+  virtual bool load(const Yaml& yaml);
+
+  virtual bool valid() const;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/math/gravity.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/math/gravity.hpp
new file mode 100644
index 000000000..489aa236e
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/math/gravity.hpp
@@ -0,0 +1,22 @@
+#pragma once
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+/**
+ * Gravity Value [m/s^2]
+ *
+ * This is the gravity value used in the whole project.
+ */
+static constexpr Scalar G = 9.8066;
+
+
+/**
+ * Gravity Vector [m/s^2]
+ *
+ * This is the gravity vector pointing in negative z-direction.
+ * It uses the value of #G.
+ */
+const Vector<3> GVEC{0, 0, -G};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/math/math.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/math/math.hpp
new file mode 100644
index 000000000..13587c8cd
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/math/math.hpp
@@ -0,0 +1,47 @@
+#pragma once
+
+#include <aerial_robot_control/trajectory/math/types.hpp>
+
+namespace agi {
+
+Matrix<3, 3> skew(const Vector<3>& v);
+
+Matrix<4, 4> Q_left(const Quaternion& q);
+
+Matrix<4, 4> Q_right(const Quaternion& q);
+
+Matrix<4, 3> qFromQeJacobian(const Quaternion& q);
+
+Matrix<4, 4> qConjugateJacobian();
+
+Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t);
+
+Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t);
+
+void matrixToTripletList(const SparseMatrix& matrix,
+                         std::vector<SparseTriplet>* const list,
+                         const int row_offset = 0, const int col_offset = 0);
+
+void matrixToTripletList(const Matrix<>& matrix,
+                         std::vector<SparseTriplet>* const list,
+                         const int row_offset = 0, const int col_offset = 0);
+
+void insert(const SparseMatrix& from, SparseMatrix* const into,
+            const int row_offset = 0, const int col_offset = 0);
+
+void insert(const Matrix<>& from, SparseMatrix* const into,
+            const int row_offset = 0, const int col_offset = 0);
+
+void insert(const Matrix<>& from, Matrix<>* const into,
+            const int row_offset = 0, const int col_offset = 0);
+
+Vector<> clip(const Vector<>& v, const Vector<>& bound);
+
+inline constexpr Scalar toRad(const Scalar angle_deg) {
+  return angle_deg * M_PI / 180.0;
+}
+inline constexpr Scalar toDeg(const Scalar angle_deg) {
+  return angle_deg / M_PI * 180.0;
+}
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/math/types.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/math/types.hpp
new file mode 100644
index 000000000..431f5297a
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/math/types.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <Eigen/Eigen>
+#include <limits>
+
+namespace agi {
+
+// Define the scalar type used.
+using Scalar = double;
+static constexpr Scalar INF = std::numeric_limits<Scalar>::infinity();
+
+// Define `Dynamic` matrix size.
+static constexpr int Dynamic = Eigen::Dynamic;
+
+// Using shorthand for `Matrix<rows, cols>` with scalar type.
+template<int rows = Dynamic, int cols = rows>
+using Matrix = Eigen::Matrix<Scalar, rows, cols>;
+
+// Using shorthand for `Vector<rows>` with scalar type.
+template<int rows = Dynamic>
+using Vector = Matrix<rows, 1>;
+
+// Using shorthand for `Array<rows, cols>` with scalar type.
+template<int rows = Dynamic, int cols = rows>
+using Array = Eigen::Array<Scalar, rows, cols>;
+
+template<int rows = Dynamic>
+using ArrayVector = Array<rows, 1>;
+
+// Using `SparseMatrix` with type.
+using SparseMatrix = Eigen::SparseMatrix<Scalar>;
+
+// Using SparseTriplet with type.
+using SparseTriplet = Eigen::Triplet<Scalar>;
+
+// Using `Quaternion` with type.
+using Quaternion = Eigen::Quaternion<Scalar>;
+
+// Using `Ref` for modifier references.
+template<class Derived>
+using Ref = Eigen::Ref<Derived>;
+
+// Using `ConstRef` for constant references.
+template<class Derived>
+using ConstRef = const Eigen::Ref<const Derived>;
+
+// Using `Map`.
+template<class Derived>
+using Map = Eigen::Map<Derived>;
+
+using DynamicsFunction =
+  std::function<bool(const Ref<const Vector<>>, Ref<Vector<>>)>;
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/reference_base.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/reference_base.hpp
new file mode 100644
index 000000000..775946f93
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/reference_base.hpp
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "aerial_robot_control/trajectory/base/module.hpp"
+#include "aerial_robot_control/trajectory/math/types.hpp"
+#include "aerial_robot_control/trajectory/types/setpoint.hpp"
+#include "aerial_robot_control/trajectory/utils/logger.hpp"
+
+namespace agi {
+
+class ReferenceBase {
+ public:
+  ReferenceBase(const std::string& name = "ReferenceBase");
+  ReferenceBase(const QuadState& state, const Scalar duration,
+                const std::string& name = "ReferenceBase");
+  virtual ~ReferenceBase();
+
+  virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) = 0;
+  virtual Setpoint getSetpoint(const QuadState& state) final;
+  virtual Setpoint getSetpoint(const Scalar t,
+                               const Scalar heading = NAN) final;
+  virtual Setpoint getStartSetpoint();
+  virtual Setpoint getEndSetpoint();
+
+  inline Scalar getStartTime() const { return start_state_.t; }
+  inline Scalar getEndTime() const { return start_state_.t + duration_; }
+  inline Scalar getDuration() const { return duration_; }
+  bool isTimeInRange(const Scalar time) const;
+  std::string time_in_HH_MM_SS_MMM(const Scalar time) const;
+
+  virtual bool valid() const { return start_state_.valid(); }
+  const std::string& name() const { return name_; }
+  virtual bool isHover() const { return false; }
+  virtual bool isVelocityRefernce() const { return false; }
+  virtual bool isAbsolute() const { return true; }
+
+  bool truncate(const Scalar& t);
+  friend std::ostream& operator<<(std::ostream& os, const ReferenceBase& ref);
+
+ protected:
+  QuadState start_state_;
+  Scalar duration_;
+  const std::string name_;
+};
+
+using ReferenceVector = std::vector<std::shared_ptr<ReferenceBase>>;
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial.hpp
new file mode 100644
index 000000000..7b48f0155
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial.hpp
@@ -0,0 +1,74 @@
+#pragma once
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+template<typename Solver = Eigen::HouseholderQR<Matrix<>>>
+class Polynomial {
+ public:
+  Polynomial();
+  Polynomial(const int order, const Vector<>& weights = Vector<4>(0, 0, 0, 1),
+             const int continuity = -1);
+  Polynomial(const Polynomial& rhs) = default;
+  ~Polynomial() = default;
+
+  bool scale(const Scalar start_time = NAN, const Scalar duration = NAN);
+  int addConstraint(const Scalar time, const Vector<>& constraint);
+  bool solve();
+  bool eval(const Scalar time, Ref<Vector<>> state) const;
+  Scalar operator()(const Scalar time, const int order = 0) const;
+
+  inline int order() const noexcept { return order_; }
+  inline int size() const noexcept { return order_ + 1; }
+  bool solved() const { return c_.allFinite(); }
+
+  Matrix<> H() const { return H_; }
+  Matrix<> A() const { return A_; }
+  Vector<> b() const { return b_; }
+  Matrix<> exponents() const { return exponents_.transpose(); }
+  Matrix<> alpha() const { return alpha_.transpose(); }
+  Vector<> coeffs() const { return c_; }
+
+  Scalar tauFromTime(const Scalar t) const;
+  Vector<> tauVector(const Scalar tau, const int order = 0) const;
+  Vector<> tauVectorFromTime(const Scalar time, const int order = 0) const;
+  Matrix<> polyMatrix(const Scalar tau, const int order) const;
+  Matrix<> polyMatrixFromTime(const Scalar time, const int order) const;
+
+  void reset();
+
+ private:
+  Matrix<> createH(const Vector<>& weights) const;
+  bool solve(const Matrix<>& H, const Matrix<>& A, const Vector<>& b);
+
+  const int order_;
+  const int continuity_;
+  Vector<> c_;
+  const Array<> exponents_;
+  const Array<> alpha_;
+
+  Vector<> weights_;  // Weights on derivatives starting from velocity,
+  Matrix<> H_ = Matrix<>::Constant(1, order_, NAN);
+  Matrix<> A_ = Matrix<>::Constant(1, order_, NAN);
+  Vector<> b_ = Vector<>::Constant(1, NAN);
+
+  Scalar t_scale_{1.0};
+  Scalar t_offset_{0.0};
+};
+
+// Closed-Form Minimum Jerk Specialization
+template<>
+Polynomial<void>::Polynomial(const int order, const Vector<>& weights,
+                             const int continuity) = delete;
+
+template<>
+bool Polynomial<void>::solve(const Matrix<>& H, const Matrix<>& A,
+                             const Vector<>& b) = delete;
+
+class ClosedFormMinJerkAxis : public Polynomial<void> {
+ public:
+  using Polynomial::Polynomial;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp
new file mode 100644
index 000000000..4f198071d
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp
@@ -0,0 +1,118 @@
+
+#pragma once
+
+#include "aerial_robot_control/trajectory/reference_base.hpp"
+#include "aerial_robot_control/trajectory/trajectory_reference/polynomial.hpp"
+#include "aerial_robot_control/trajectory/types/quadrotor.hpp"
+
+namespace agi {
+
+template<class PolyType = Polynomial<>>
+class PolynomialTrajectory : public ReferenceBase {
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  PolynomialTrajectory(const QuadState& start_state, const QuadState& end_state,
+                       const Vector<>& weights = Vector<4>(0, 0, 0, 1),
+                       const int order = 11, const int continuity = -1,
+                       const std::string& name = "Polynomial Trajectory");
+  PolynomialTrajectory(const std::vector<QuadState>& states,
+                       const Vector<>& weights = Vector<4>(0, 0, 0, 1),
+                       const int order = 11, const int continuity = -1,
+                       const std::string& name = "Polynomial Trajectory");
+  virtual ~PolynomialTrajectory() = default;
+
+  using ReferenceBase::getSetpoint;
+  Setpoint getSetpoint(const QuadState& state, const Scalar time) override;
+  QuadState getState(const Scalar time) const;
+  virtual Setpoint getStartSetpoint() override final;
+  virtual Setpoint getEndSetpoint() override final;
+
+  bool addStateConstraint(const QuadState& state, int ord = -1);
+  bool solved() const;
+  bool valid() const override;
+
+  // utilities
+  Vector<> evalTranslation(const Scalar time, const int order = 0) const;
+  Scalar findTimeMaxAcc(const Scalar precision = 1e-3) const;
+  Scalar findTimeMaxOmega(const Scalar precision = 1e-3) const;
+  Scalar findTimeMaxAcc(const Scalar t_start, const Scalar t_end,
+                        const Scalar precision = 1e-3) const;
+  Scalar findTimeMaxOmega(const Scalar t_start, const Scalar t_end,
+                          const Scalar precision = 1e-3) const;
+  void scale(const Scalar start_time = NAN, const Scalar duration = NAN);
+  Scalar scaleToLimits(const Quadrotor& quad, const int iterations = 10,
+                       const Scalar tolerance = 1e-4);
+  Scalar scaleToLimits(const Scalar acc_limit, const int iterations = 10,
+                       const Scalar tolerance = 1e-4);
+
+  void setForwardHeading(const bool forward);
+
+ protected:
+  template<typename EvalFunc, typename CompFunc>
+  Scalar findTime(const Scalar dt, const Scalar dt_min, const Scalar t_start,
+                  const Scalar t_end, EvalFunc eval, CompFunc comp) const;
+
+  QuadState end_state_;
+  PolyType x_;
+  PolyType y_;
+  PolyType z_;
+  PolyType yaw_;
+
+  std::vector<QuadState> states_;
+
+  mutable Quaternion q_pitch_roll_last_{1, 0, 0, 0};
+  mutable Scalar yaw_last_{0.0};
+  bool forward_heading_{false};
+};
+
+// Child classes
+class MinSnapTrajectory : public PolynomialTrajectory<Polynomial<>> {
+ public:
+  MinSnapTrajectory(const QuadState& start_state, const QuadState& end_state,
+                    const int order = 11, const int continuity = 3,
+                    const std::string& name = "Minimum Snap Trajectory")
+    : PolynomialTrajectory(start_state, end_state, Vector<4>(0, 0, 0, 1), order,
+                           continuity, name) {}
+  MinSnapTrajectory(const std::vector<QuadState>& states,
+                    const int order = 11, const int continuity = 3,
+                    const std::string& name = "Minimum Snap Trajectory")
+    : PolynomialTrajectory(states, Vector<4>(0, 0, 0, 1), order,
+                           continuity, name) {}
+};
+
+class MinJerkTrajectory : public PolynomialTrajectory<Polynomial<>> {
+ public:
+  MinJerkTrajectory(const QuadState& start_state, const QuadState& end_state,
+                    const int order = 11, const int continuity = 2,
+                    const std::string& name = "Minimum Jerk Trajectory")
+    : PolynomialTrajectory(start_state, end_state, Vector<3>(0, 0, 1), order,
+                           continuity, name) {}
+  MinJerkTrajectory(const std::vector<QuadState>& states,
+                    const int order = 11, const int continuity = 2,
+                    const std::string& name = "Minimum Jerk Trajectory")
+    : PolynomialTrajectory(states, Vector<3>(0, 0, 1), order,
+                           continuity, name) {}
+};
+
+// Closed-Form Minimum-Jerk Specialization
+template<>
+PolynomialTrajectory<ClosedFormMinJerkAxis>::PolynomialTrajectory(
+  const QuadState& start_state, const QuadState& end_state,
+  const Vector<>& weights, const int order, const int continuity,
+  const std::string& name);
+
+template<>
+PolynomialTrajectory<ClosedFormMinJerkAxis>::PolynomialTrajectory(
+  const std::vector<QuadState>& states, const Vector<>& weights,
+  const int order, const int continuity,const std::string& name) = delete;
+
+class ClosedFormMinJerkTrajectory
+  : public PolynomialTrajectory<ClosedFormMinJerkAxis> {
+ public:
+  ClosedFormMinJerkTrajectory(const QuadState& start_state,
+                              const QuadState& end_state)
+    : PolynomialTrajectory(start_state, end_state, Vector<3>(0, 0, 1), 5, 3,
+                           "Closed-Form Mininum Jerk Trajectory") {}
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/sampled_trajectory.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/sampled_trajectory.hpp
new file mode 100644
index 000000000..01f249c33
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/trajectory_reference/sampled_trajectory.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "aerial_robot_control/trajectory/reference_base.hpp"
+
+namespace agi {
+
+class SampledTrajectory : public ReferenceBase {
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  SampledTrajectory(const SetpointVector& setpoints);
+  virtual ~SampledTrajectory() = default;
+
+  virtual Setpoint getSetpoint(const QuadState& state, const Scalar t) override;
+  virtual Setpoint getStartSetpoint() override;
+  virtual Setpoint getEndSetpoint() override;
+
+ private:
+  Setpoint interpolateSetpoints(const Setpoint& setpoint_1,
+                                const Setpoint& setpoint_2,
+                                const Scalar x) const;
+  SetpointVector setpoints_;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/types/command.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/types/command.hpp
new file mode 100644
index 000000000..b64e1bb04
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/types/command.hpp
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+struct Command {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  Command();
+
+  Command(const Scalar t, const Scalar thrust, const Vector<3>& omega);
+
+  Command(const Scalar t, const Vector<4>& thrusts);
+
+  Command(const Scalar t);
+
+  bool valid() const;
+  bool isSingleRotorThrusts() const;
+  bool isRatesThrust() const;
+
+  /// time in [s]
+  Scalar t{NAN};
+
+  /// Collective mass-normalized thrust in [m/s^2]
+  Scalar collective_thrust{NAN};
+
+  /// Bodyrates in [rad/s]
+  Vector<3> omega{NAN, NAN, NAN};
+
+  /// Single rotor thrusts in [N]
+  Vector<4> thrusts{NAN, NAN, NAN, NAN};
+
+  friend std::ostream& operator<<(std::ostream& os, const Command& command);
+
+  bool operator==(const Command& rhs) const;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/types/pose.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/types/pose.hpp
new file mode 100644
index 000000000..097c50fa0
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/types/pose.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+struct Pose {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  Pose() = default;
+  Pose(const Pose&) = default;
+  ~Pose() = default;
+
+  static constexpr int SIZE = 7;
+
+  bool valid() const {
+    return std::isfinite(t) && position.allFinite() &&
+           attitude.coeffs().allFinite();
+  }
+
+  Scalar t{NAN};
+  Vector<3> position{NAN, NAN, NAN};
+  Quaternion attitude{NAN, NAN, NAN, NAN};
+};
+
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/types/quad_state.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/types/quad_state.hpp
new file mode 100644
index 000000000..00e501d31
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/types/quad_state.hpp
@@ -0,0 +1,130 @@
+#pragma once
+
+#include <memory>
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+struct QuadState {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  enum IDX : int {
+    POS = 0,
+    POSX = 0,
+    POSY = 1,
+    POSZ = 2,
+    NPOS = 3,
+    ATT = 3,
+    ATTW = 3,
+    ATTX = 4,
+    ATTY = 5,
+    ATTZ = 6,
+    NATT = 4,
+    VEL = 7,
+    VELX = 7,
+    VELY = 8,
+    VELZ = 9,
+    NVEL = 3,
+    OME = 10,
+    OMEX = 10,
+    OMEY = 11,
+    OMEZ = 12,
+    NOME = 3,
+    ACC = 13,
+    ACCX = 13,
+    ACCY = 14,
+    ACCZ = 15,
+    NACC = 3,
+    TAU = 16,
+    TAUX = 16,
+    TAUY = 17,
+    TAUZ = 18,
+    NTAU = 3,
+    JERK = 19,
+    JERKX = 19,
+    JERKY = 20,
+    JERKZ = 21,
+    NJERK = 3,
+    SNAP = 22,
+    SNAPX = 22,
+    SNAPY = 23,
+    SNAPZ = 24,
+    NSNAP = 3,
+    BOME = 25,
+    BOMEX = 25,
+    BOMEY = 26,
+    BOMEZ = 27,
+    NBOME = 3,
+    BACC = 28,
+    BACCX = 28,
+    BACCY = 29,
+    BACCZ = 30,
+    NBACC = 3,
+    MOT = 31,
+    MOT1 = 31,
+    MOT2 = 32,
+    MOT3 = 33,
+    MOT4 = 34,
+    NMOT = 4,
+    MOTDES = 35,
+    MOTDES1 = 35,
+    MOTDES2 = 36,
+    MOTDES3 = 37,
+    MOTDES4 = 38,
+    NMOTDES = 4,
+    SIZE = 39,
+    DYN = 19
+  };
+
+  QuadState();
+  QuadState(const Scalar t, const Vector<IDX::SIZE>& x);
+  QuadState(const Scalar t, const Vector<3>& position, const Scalar yaw);
+  QuadState(const QuadState& state);
+  ~QuadState();
+
+  inline static int size() { return SIZE; }
+
+  Quaternion q() const;
+  void q(const Quaternion quaternion);
+  void q(const Scalar angle, const Vector<3>& axis = Vector<3>::UnitZ());
+  Matrix<3, 3> R() const;
+
+  void setZero(const bool& reset_time = true);
+  void linearize();
+  inline bool valid() const { return x.allFinite() && std::isfinite(t); }
+
+  Vector<IDX::SIZE> x = Vector<IDX::SIZE>::Constant(NAN);
+  Scalar t{NAN};
+
+  Ref<Vector<3>> p{x.segment<IDX::NPOS>(IDX::POS)};
+  Ref<Vector<4>> qx{x.segment<IDX::NATT>(IDX::ATT)};
+  Ref<Vector<3>> v{x.segment<IDX::NVEL>(IDX::VEL)};
+  Ref<Vector<3>> w{x.segment<IDX::NOME>(IDX::OME)};
+  Ref<Vector<3>> a{x.segment<IDX::NACC>(IDX::ACC)};
+  Ref<Vector<3>> tau{x.segment<IDX::NTAU>(IDX::TAU)};
+  Ref<Vector<3>> j{x.segment<IDX::NJERK>(IDX::JERK)};
+  Ref<Vector<3>> s{x.segment<IDX::NSNAP>(IDX::SNAP)};
+  Ref<Vector<3>> bw{x.segment<IDX::NBOME>(IDX::BOME)};
+  Ref<Vector<3>> ba{x.segment<IDX::NBACC>(IDX::BACC)};
+  Ref<Vector<4>> mot{x.segment<IDX::NMOT>(IDX::MOT)};
+  Ref<Vector<4>> motdes{x.segment<IDX::NMOTDES>(IDX::MOTDES)};
+
+  Scalar getYaw(const Scalar yaw = NAN) const;
+  void setYaw(const Scalar angle);
+  QuadState getHoverState() const;
+
+  bool operator==(const QuadState& rhs) const;
+  bool isApprox(const QuadState& rhs, const Scalar tol = 1e-6) const;
+
+  inline bool operator<(const Scalar time) const { return t < time; }
+  inline bool operator<=(const Scalar time) const { return t <= time; }
+  inline bool operator>(const Scalar time) const { return t > time; }
+  inline bool operator>=(const Scalar time) const { return t >= time; }
+
+  friend std::ostream& operator<<(std::ostream& os, const QuadState& state);
+};
+
+using QS = QuadState;
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/types/quadrotor.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/types/quadrotor.hpp
new file mode 100644
index 000000000..cdee5d3ac
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/types/quadrotor.hpp
@@ -0,0 +1,86 @@
+#pragma once
+
+#include <functional>
+
+#include "aerial_robot_control/trajectory/base/parameter_base.hpp"
+#include "aerial_robot_control/trajectory/math/types.hpp"
+#include "aerial_robot_control/trajectory/types/quad_state.hpp"
+
+namespace agi {
+
+struct Quadrotor : public ParameterBase {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  enum class RotorConfig { plus, cross };
+
+  Quadrotor(const Scalar m, const Scalar l);
+  Quadrotor();
+
+  bool dynamics(const QuadState& state, QuadState* const derivative) const;
+
+  bool dynamics(const Ref<const Vector<QuadState::SIZE>> state,
+                Ref<Vector<QuadState::SIZE>> derivative) const;
+
+  bool jacobian(const Ref<const Vector<QuadState::SIZE>> state,
+                Ref<Matrix<QuadState::SIZE, QuadState::SIZE>> jac) const;
+
+  bool jacobian(const Ref<const Vector<QuadState::SIZE>> state,
+                SparseMatrix& jac) const;
+
+  DynamicsFunction getDynamicsFunction() const;
+
+  using ParameterBase::load;
+  bool load(const Yaml& node) override;
+  bool valid() const override;
+
+  // Helpers to apply limits.
+  Vector<4> clampThrust(const Vector<4> thrusts) const;
+  Scalar clampThrust(const Scalar thrust) const;
+  Scalar clampCollectiveThrust(const Scalar thrust) const;
+  Vector<4> clampMotorOmega(const Vector<4>& omega) const;
+  Vector<3> clampBodyrates(const Vector<3>& omega) const;
+
+  inline Scalar collective_thrust_min() const { return 4.0 * thrust_min_ / m_; }
+  inline Scalar collective_thrust_max() const { return 4.0 * thrust_max_ / m_; }
+
+  // Helpers for conversion
+  Vector<4> motorOmegaToThrust(const Vector<4>& omega) const;
+  Vector<4> motorOmegaToTorque(const Vector<4>& omega) const;
+  Vector<4> motorThrustToOmega(const Vector<4>& thrusts) const;
+
+  // Getter Functions for member variables
+  Matrix<4, 4> getAllocationMatrix() const;
+
+  friend std::ostream& operator<<(std::ostream& os, const Quadrotor& quad);
+
+  // Quadrotor physics
+  Scalar m_;
+  Matrix<3, 4> t_BM_;
+  Matrix<3, 3> J_;
+  Matrix<3, 3> J_inv_;
+
+  // Motor
+  Scalar motor_omega_min_;
+  Scalar motor_omega_max_;
+  Scalar motor_tau_inv_;
+
+  // Propellers
+  Vector<3> thrust_map_;
+  Vector<3> torque_map_;
+  Scalar kappa_;
+  Scalar thrust_min_;
+  Scalar thrust_max_;
+  RotorConfig rotors_config_;
+
+  // Quadrotor limits
+  Vector<3> omega_max_;
+
+  // Simple cubic aerodynamic model f= c_1 * v +_ c_3 * v^3.
+  Vector<3> aero_coeff_1_;
+  Vector<3> aero_coeff_3_;
+
+  // Forward-flight induced thrust variation fz -= c_h * (vx^2 + vy^2)
+  Scalar aero_coeff_h_;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/types/setpoint.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/types/setpoint.hpp
new file mode 100644
index 000000000..6f20ac931
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/types/setpoint.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <memory>
+
+#include "aerial_robot_control/trajectory/types/command.hpp"
+#include "aerial_robot_control/trajectory/types/quad_state.hpp"
+
+namespace agi {
+
+struct Setpoint {
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  Setpoint() = default;
+  Setpoint(const QuadState& state, const Command& input)
+    : state(state), input(input) {}
+
+  QuadState state;
+  Command input;
+};
+
+using SetpointVector = std::vector<Setpoint>;
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/utils/filesystem.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/filesystem.hpp
new file mode 100644
index 000000000..6f11d6e02
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/filesystem.hpp
@@ -0,0 +1,9 @@
+#if __has_include(<filesystem>)
+#include <filesystem>
+namespace fs = std::filesystem;
+#elif __has_include(<experimental/filesystem>)
+#include <experimental/filesystem>
+namespace fs = std::experimental::filesystem;
+#else
+#error "no filesystem support found"
+#endif
\ No newline at end of file
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/utils/logger.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/logger.hpp
new file mode 100644
index 000000000..8999ce6a8
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/logger.hpp
@@ -0,0 +1,121 @@
+#pragma once
+
+#include <cstdarg>
+#include <cstdio>
+#include <fstream>
+#include <iostream>
+#include <string>
+#include <unordered_map>
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+#ifndef DEBUG_LOG
+namespace {
+struct NoPrint {
+  template<typename T>
+  constexpr NoPrint operator<<(const T&) const noexcept {
+    return NoPrint();
+  }
+  constexpr NoPrint operator<<(std::ostream& (*)(std::ostream&)) const  //
+    noexcept {
+    return NoPrint();
+  }
+};
+}  // namespace
+#endif
+
+struct PublishLogContainer {
+  Vector<> data;
+  bool advertise;
+};
+
+
+class Logger {
+ public:
+  Logger(const std::string& name, const bool color = true);
+  ~Logger();
+
+  inline std::streamsize precision(const std::streamsize n);
+  inline void scientific(const bool on = true);
+
+  void info(const char* msg, ...) const;
+  void warn(const char* msg, ...) const;
+  void error(const char* msg, ...) const;
+  void fatal(const char* msg, ...) const;
+
+#ifdef DEBUG_LOG
+  void debug(const char* msg, ...) const;
+  std::ostream& debug() const;
+  void debug(const std::function<void(void)>&& lambda) const;
+#else
+  inline constexpr void debug(const char*, ...) const noexcept {}
+  inline constexpr NoPrint debug() const { return NoPrint(); }
+  inline constexpr void debug(const std::function<void(void)>&&) const  //
+    noexcept {}
+#endif
+
+  inline void addPublishingVariable(const std::string& var_name,
+                                    const Vector<>& vec) const {
+    publishing_variables_[name_ + var_name].advertise =
+      false;  // Not only advertising
+    publishing_variables_[name_ + var_name].data = vec;
+  }
+
+  inline void addPublishingVariable(const std::string& var_name,
+                                    Scalar val) const {
+    addPublishingVariable(var_name, Vector<1>(val));
+  }
+
+  inline void advertisePublishingVariable(const std::string& var_name) const {
+    publishing_variables_[name_ + var_name].advertise =
+      true;  // Only advertising
+  }
+
+  inline void erasePublishingVariable(const std::string var_name) {
+    publishing_variables_.erase(name_ + var_name);
+  }
+
+  template<typename T>
+  std::ostream& operator<<(const T& printable) const;
+
+  inline const std::string& name() const { return formatted_name_; }
+
+  static constexpr int MAX_CHARS = 256;
+
+  static void for_each_instance(
+    std::function<void(const std::string& name,
+                       const PublishLogContainer& container)>
+      function) {
+    for (auto& pub_var : publishing_variables_) {
+      function(pub_var.first, pub_var.second);
+    }
+  }
+
+ private:
+  static constexpr int DEFAULT_PRECISION = 3;
+  static constexpr int NAME_PADDING = 15;
+  static constexpr char RESET[] = "\033[0m";
+  static constexpr char RED[] = "\033[31m";
+  static constexpr char YELLOW[] = "\033[33m";
+  static constexpr char INFO[] = "Info:    ";
+  static constexpr char WARN[] = "Warning: ";
+  static constexpr char ERROR[] = "Error:   ";
+  static constexpr char FATAL[] = "Fatal:   ";
+  static constexpr char DEBUGPREFIX[] = "Debug:   ";
+
+  const std::string name_;
+  std::string formatted_name_;
+  const bool colored_;
+  static std::unordered_map<std::string, PublishLogContainer>
+    publishing_variables_;  // Map from variable name to a struct containing
+                            // info about logging data
+};
+
+template<typename T>
+std::ostream& Logger::operator<<(const T& printable) const {
+  return std::cout << formatted_name_ << printable;
+}
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/utils/timer.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/timer.hpp
new file mode 100644
index 000000000..45066eabc
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/timer.hpp
@@ -0,0 +1,129 @@
+#pragma once
+
+#include <chrono>
+#include <iostream>
+#include <string>
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+
+namespace agi {
+
+/*
+ * Timer class to perform runtime analytics.
+ *
+ * This timer class provides a simple solution to time code.
+ * Simply construct a timer and call it's `tic()` and `toc()` functions to time
+ * code. It is intended to be used to time multiple calls of a function and not
+ * only reports the `last()` timing, but also statistics such as the `mean()`,
+ * `min()`, `max()` time, the `count()` of calls to the timer , and even
+ * standard deviation `std()`.
+ *
+ * The constructor can take a name for the timer (like "update") and a name for
+ * the module (like "Filter").
+ * After construction it can be `reset()` if needed.
+ *
+ * A simple way to get the timing and stats is `std::cout << timer;` which can
+ * output to arbitrary streams, overloading the stream operator,
+ * or `print()` which always prints to console.
+ *
+ */
+
+using TimeFunction = std::function<Scalar()>;
+static constexpr auto ChronoTime = []() -> agi::Scalar {
+  const std::chrono::high_resolution_clock::time_point now =
+    std::chrono::high_resolution_clock::now();
+  return 1e-9 * std::chrono::duration_cast<std::chrono::nanoseconds>(
+                  now.time_since_epoch())
+                  .count();
+};
+
+class Timer {
+ public:
+  Timer(const std::string name = "", const std::string module = "");
+  Timer(const Timer& other);
+  ~Timer() {}
+
+  /// Start the timer.
+  void tic();
+
+  /// Stops timer, calculates timing, also tics again.
+  Scalar toc();
+
+  /// Reset saved timings and calls;
+  void reset();
+
+  // Accessors
+  Scalar operator()() const;
+  Scalar mean() const;
+  Scalar last() const;
+  Scalar min() const;
+  Scalar max() const;
+  Scalar std() const;
+  int count() const;
+  Scalar startTime() const;
+
+  /// Custom stream operator for outputs.
+  friend std::ostream& operator<<(std::ostream& os, const Timer& timer);
+
+  /// Print timing information to console.
+  void print() const;
+
+ private:
+  std::string name_, module_;
+  using TimePoint = std::chrono::high_resolution_clock::time_point;
+  TimePoint t_start_;
+
+  // Initialize timing to impossible values.
+  Scalar timing_mean_;
+  Scalar timing_last_;
+  Scalar timing_S_;
+  Scalar timing_min_;
+  Scalar timing_max_;
+
+  int n_samples_;
+};
+
+/*
+ * Simple class to time scopes.
+ *
+ * This effectively instantiates a timer and calls `tic()` in its constructor
+ * and `toc()` and ` print()` in its destructor.
+ */
+class ScopedTimer : public Timer {
+ public:
+  ScopedTimer(const std::string name = "", const std::string module = "");
+  ~ScopedTimer();
+};
+
+/*
+ *  * Helper Timer class to instantiate a static Timer that prints in
+ * descructor.
+ *   *
+ *    * Debugging slow code? Simply create this as a static object somewhere and
+ *     * tic-toc it. Once the program ends, the destructor of StaticTimer will
+ * print
+ *      * its stats.
+ *       */
+class StaticTimer : public Timer {
+ public:
+  using Timer::Timer;
+
+  ~StaticTimer() { this->print(); }
+};
+
+/*
+ * Simple class to tic and toc a timer within a scope.
+ *
+ * This takes a timer as argument, tics in the constructor, and tocs on
+ * destruction.
+ */
+class ScopedTicToc {
+ public:
+  ScopedTicToc(Timer& timer);
+  ~ScopedTicToc();
+
+ private:
+  Timer& timer_;
+};
+
+}  // namespace agi
diff --git a/aerial_robot_control/include/aerial_robot_control/trajectory/utils/yaml.hpp b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/yaml.hpp
new file mode 100644
index 000000000..f58110ad5
--- /dev/null
+++ b/aerial_robot_control/include/aerial_robot_control/trajectory/utils/yaml.hpp
@@ -0,0 +1,494 @@
+#pragma once
+
+#include <algorithm>
+#include <exception>
+#include <fstream>
+#include <iostream>
+#include <memory>
+#include <string>
+#include <string_view>
+
+#include "aerial_robot_control/trajectory/math/types.hpp"
+#include "aerial_robot_control/trajectory/utils/filesystem.hpp"
+
+namespace agi {
+namespace {
+
+struct YamlException : public std::exception {
+  YamlException() = default;
+  YamlException(const std::string& msg) : msg(msg) {}
+  YamlException(const std::string& key, const std::string& msg)
+    : msg("Key \'" + key + "\':\n" + msg + '\n') {}
+
+  YamlException(const std::string& key, const std::string& msg,
+                const std::string_view& doc, const size_t pos)
+    : msg("Key \'" + key + "\' in line " +
+          std::to_string(getLineNumber(doc.substr(0, pos))) + ":\n" + msg +
+          '\n') {}
+
+  YamlException(const std::string& msg, const std::string_view& doc,
+                const size_t pos)
+    : msg([&] {
+        const size_t ln = getLineNumber(doc.substr(0, pos));
+        return std::string("In line " + std::to_string(ln) + ":\n" + msg +
+                           "\nLine: \'" + getLine(doc, ln) + "\'\n");
+      }()) {}
+
+  [[nodiscard]] const char* what() const noexcept override {
+    return msg.c_str();
+  }
+
+  static size_t getLineNumber(const std::string_view& doc) {
+    return std::count(doc.begin(), doc.end(), '\n');
+  }
+
+  static std::string getLine(const std::string_view& doc, const size_t line) {
+    size_t start = 0;
+    size_t end = doc.find_first_of('\n');
+    if (line) {
+      for (size_t i = 0; i < line; ++i) {
+        start = end + 1;
+        end = doc.find_first_of('\n', start);
+      }
+    }
+    return std::string(doc.substr(start, end - start));
+  }
+
+  const std::string msg{"YAML Exception"};
+};
+}  // namespace
+
+class Yaml {
+ public:
+  Yaml() = default;
+  Yaml(const Yaml&) = default;
+  ~Yaml() = default;
+  Yaml(const std::string& keyspace, const std::string& key)
+    : keyspace_(keyspace), key_(key) {}
+
+  // Delegating Constructors
+  explicit Yaml(const fs::path& filename) : Yaml(loadFile(filename)) {}
+  explicit Yaml(const std::string& doc) : Yaml(std::string_view(doc)) {}
+  explicit Yaml(const std::string_view& doc)
+    : Yaml([](const std::string_view& doc) {
+        size_t indent = 0;
+        size_t pos = 0;
+        return Yaml("", "", doc, pos, doc.size(), indent);
+      }(doc)) {}
+
+  template<typename T>
+  T as() const {
+    if constexpr (std::is_same_v<T, int>)
+      return as_int();
+    else if constexpr (std::is_same_v<T, unsigned int>)
+      return as_uint();
+    else if constexpr (std::is_same_v<T, float>)
+      return as_float();
+    else if constexpr (std::is_same_v<T, double>)
+      return as_double();
+    else if constexpr (std::is_same_v<T, std::complex<double>>)
+      return as_complex<double>();
+    else if constexpr (std::is_same_v<T, std::complex<float>>)
+      return as_complex<float>();
+    else if constexpr (std::is_same_v<T, bool>)
+      return as_bool();
+    else
+      return as_string();
+  }
+
+  template<typename T, typename std::enable_if<
+                         !std::is_base_of<Eigen::DenseBase<T>, T>::value &&
+                           !std::is_base_of<Eigen::QuaternionBase<T>, T>::value,
+                         bool>::type = false>
+  inline friend void operator>>(const Yaml& yaml, T& value) {
+    value = yaml.as<T>();
+  }
+
+  template<typename Derived,
+           typename std::enable_if<
+             std::is_base_of<Eigen::DenseBase<Derived>, Derived>::value,
+             bool>::type = true>
+  inline friend void operator>>(const Yaml& yaml, Derived& matrix) {
+    yaml.as_matrix(matrix);
+  }
+
+  template<typename Derived,
+           typename std::enable_if<
+             std::is_base_of<Eigen::QuaternionBase<Derived>, Derived>::value,
+             bool>::type = true>
+  inline friend void operator>>(const Yaml& yaml, Derived& matrix) {
+    yaml.as_quaternion(matrix);
+  }
+
+  const Yaml operator[](const std::string& s) const {
+    try {
+      return map_.at(s);
+    } catch (std::exception& e) {
+      return Yaml(getFullKeyName(), s);
+    }
+  }
+
+  const Yaml operator[](const int i) const {
+    const size_t idx = i >= 0 ? (size_t)i : (size_t)(i % (int)seq_.size());
+    if (seq_.empty()) return Yaml();
+    if (idx < seq_.size())
+      return seq_[idx];
+    else
+      return Yaml(getFullKeyName(), std::to_string(i));
+  }
+
+  template<typename T>
+  bool getIfDefined(T& val) const {
+    if (isNull()) return false;
+    if constexpr (std::is_base_of_v<Eigen::DenseBase<T>, T>)
+      as_matrix(val);
+    else if constexpr (std::is_base_of_v<Eigen::QuaternionBase<T>, T>)
+      as_quaternion(val);
+    else
+      val = as<T>();
+    return true;
+  }
+
+  [[nodiscard]] inline bool isValid() const {
+    return !raw_.empty() ^ !map_.empty() ^ !seq_.empty();
+  }
+  [[nodiscard]] inline bool isDefined() const {
+    return !raw_.empty() || !map_.empty() || !seq_.empty();
+  }
+  [[nodiscard]] inline bool isNull() const {
+    return raw_.empty() && map_.empty() && seq_.empty();
+  }
+  [[nodiscard]] inline bool isValue() const { return !raw_.empty(); }
+  [[nodiscard]] inline bool isNode() const { return !map_.empty(); }
+  [[nodiscard]] inline bool isSequence() const { return !seq_.empty(); }
+
+  [[nodiscard]] inline size_t size() const {
+    if (isNull())
+      return 0;
+    else if (isSequence())
+      return seq_.size();
+    else if (isNode())
+      return map_.size();
+    else
+      return 1;
+  }
+
+  friend std::ostream& operator<<(std::ostream& os, const Yaml& yaml) {
+    yaml.print(os, 0);
+    return os;
+  }
+
+  void print(std::ostream& os, const size_t indent) const {
+    if (isValue()) {
+      os << ' ' << raw_ << '\n';
+      return;
+    }
+    os << '\n';
+    for (const auto& node : map_) {
+      os << std::string(indent, ' ') << node.first << ':';
+      node.second.print(os, indent + 2);
+    }
+    for (const auto& node : seq_) {
+      os << std::string(indent, ' ') << "- ";
+      node.print(os, indent + 2);
+    }
+  }
+
+  // Parsing Constructor
+  Yaml(const std::string& keyspace, const std::string& key,
+       const std::string_view& doc, size_t& pos, const size_t end,
+       const size_t min_indent = 0, bool list = false)
+    : keyspace_(keyspace), key_(key) {
+    while (pos < end) {
+      const size_t first_non_space = doc.find_first_not_of(" \t", pos);
+      const size_t first = (list && doc[first_non_space] == '-')
+                             ? doc.find_first_not_of(" \t", first_non_space + 1)
+                             : first_non_space;
+      list = false;
+      const size_t line_break =
+        std::min(doc.find_first_of('\n', first), std::string::npos - 1);
+      const size_t line_end = std::min(doc.find_first_of("#\n", first), end);
+      const size_t indent = first - pos;
+      const size_t next = std::min(line_break + 1, end);
+
+      if (first >= line_end) {
+        pos = next;
+        continue;
+      }
+
+      if (indent < min_indent) break;
+
+      const std::string_view line = doc.substr(first, line_end - first);
+
+      if (line_end > first) {
+        const size_t indicator = line.find_first_of(":[{(");
+        if (line[0] == '-' && line[1] == ' ') {
+          const size_t list_indent = first_non_space - pos;
+          seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()), doc,
+                            pos, end, list_indent + 1, true);
+        } else if (indicator == std::string::npos) {
+          const size_t value_end = line.find_last_not_of(' ');
+          if (value_end < std::string::npos) {
+            raw_ = line.substr(0, 1 + value_end);
+          } else {
+            raw_ = line;
+          }
+          pos = next;
+        } else if (line[indicator] == ':') {
+          const size_t key_end = line.find_first_of(" \t\n:{}[]()");
+          const size_t key_remainder = line.find_first_not_of(" \t", key_end);
+          if (indicator < 1 || key_remainder < indicator)
+            throw YamlException("Could not parse line! No valid key!", doc,
+                                pos);
+          const std::string sub_key =
+            (std::string)line.substr(0, std::min(indicator, key_end));
+          const size_t value_start =
+            line.find_first_not_of(" \t", indicator + 1);
+          if (value_start < line_end) {
+            pos = first + value_start;
+            map_[sub_key] =
+              Yaml(getFullKeyName(), sub_key, doc, pos, line_end, 0);
+          } else {
+            pos = next;
+            map_[sub_key] =
+              Yaml(getFullKeyName(), sub_key, doc, pos, end, indent + 1);
+          }
+          pos = std::max(pos, next);
+        } else if (line[indicator] == '[' || line[indicator] == '{' ||
+                   line[indicator] == '(') {
+          pos = doc.find_first_not_of(" \t", first + indicator + 1);
+          size_t r = pos;
+          int level = 1;
+          while (r < end) {
+            const char c = doc[r];
+            if (c == ':') break;
+            if (c == '[' || c == '{' || c == '(') {
+              ++level;
+              ++r;
+              continue;
+            } else if (c == ']' || c == '}' || c == ')') {
+              if (level == 1) {
+                seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()),
+                                  doc, pos, r, 0);
+              }
+              --level;
+              ++r;
+              continue;
+            } else if (c == ',' && level == 1) {
+              seq_.emplace_back(getFullKeyName(), std::to_string(seq_.size()),
+                                doc, pos, r, 0);
+              pos = ++r;
+              continue;
+            }
+            ++r;
+          }
+          if (level != 0) throw YamlException("List not closed!", doc, pos);
+          pos = doc.find_first_of('\n', pos);
+          if (pos < end) ++pos;
+        } else {
+          pos = next;
+        }
+      } else {
+        pos = next;
+      }
+    }
+
+    // Clean out sequences of size 1.
+    if (seq_.size() == 1 && map_.empty()) {
+      raw_ = seq_[0].raw_;
+      map_ = seq_[0].map_;
+      seq_ = seq_[0].seq_;
+    }
+  }
+
+ private:
+  // Interpreters
+  [[nodiscard]] int as_int() const {
+    try {
+      return std::stoi(raw_);
+    } catch (std::exception& e) {
+      throw YamlException(getFullKeyName(), "Is not a valid int: " + raw_);
+    };
+  }
+
+  [[nodiscard]] int as_uint() const {
+    try {
+      return std::stoul(raw_);
+    } catch (std::exception& e) {
+      throw YamlException(getFullKeyName(),
+                          "Is not a valid unsigned integer: " + raw_);
+    };
+  }
+
+  [[nodiscard]] float as_float() const {
+    try {
+      return std::stof(raw_);
+    } catch (std::exception& e) {
+      throw YamlException(getFullKeyName(), "Is not a valid float: " + raw_);
+    };
+  }
+
+  [[nodiscard]] double as_double() const {
+    try {
+      return std::stod(raw_);
+    } catch (std::exception& e) {
+      throw YamlException(getFullKeyName(), "Is not a valid double: " + raw_);
+    };
+  }
+
+  [[nodiscard]] bool as_bool() const {
+    // Fast catch for obvious cases such as empty or single char.
+    if (raw_.empty())
+      throw YamlException(getFullKeyName(), "Can't cast empty node to bool!");
+    if (raw_.size() == 1) {
+      if (raw_[0] == '0' || raw_[0] == 'f' || raw_[0] == 'F') return false;
+      if (raw_[0] == '1' || raw_[0] == 't' || raw_[0] == 'T') return true;
+      throw YamlException(getFullKeyName(), "Is not a valid bool: " + raw_);
+    }
+
+    static constexpr std::array<char, 4> strue{'t', 'r', 'u', 'e'};
+    static constexpr std::array<char, 5> sfalse{'f', 'a', 'l', 's', 'e'};
+
+    size_t true_hit = 0;
+    size_t false_hit = 0;
+    static constexpr size_t case_dist = 'a' - 'A';
+    for (const char c : raw_) {
+      if (c == strue[true_hit] || (char)(c + case_dist) == strue[true_hit]) {
+        ++true_hit;
+        if (true_hit >= strue.size()) return true;
+      } else {
+        true_hit = 0;
+      }
+      if (c == sfalse[false_hit] ||
+          (char)(c + case_dist) == sfalse[false_hit]) {
+        ++false_hit;
+        if (false_hit >= sfalse.size()) return false;
+      } else {
+        false_hit = 0;
+      }
+    }
+    throw YamlException(getFullKeyName(), "Is not a valid bool: " + raw_);
+  }
+
+  [[nodiscard]] std::string as_string() const {
+    const size_t start = raw_.find_first_not_of(" \'\"");
+    const size_t end = raw_.find_last_not_of(" \'\"");
+    if (start < raw_.size() && end < raw_.size())
+      return raw_.substr(start, end - start + 1);
+    else
+      throw YamlException(getFullKeyName(),
+                          std::string("Is not a valid string: ") + raw_);
+    return "";
+  }
+
+  template<typename T>
+  [[nodiscard]] std::complex<T> as_complex() const {
+    if (seq_.size() != 2)
+      throw YamlException(getFullKeyName(), "Is not a valid complex number!");
+    try {
+      return std::complex<T>(seq_[0].as<T>(), seq_[1].as<T>());
+    } catch (std::exception& e) {
+      throw YamlException(
+        getFullKeyName(),
+        std::string("Can't parse to a complex number:\n") + e.what());
+    };
+    return std::complex<T>();
+  }
+
+  template<typename Derived,
+           typename std::enable_if<
+             std::is_base_of<Eigen::DenseBase<Derived>, Derived>::value,
+             bool>::type = true>
+  void as_matrix(Derived& matrix) const {
+    if (isNull())
+      throw YamlException(getFullKeyName(),
+                          "Can't cast empty Yaml node to Eigen object.");
+    const size_t n = seq_.size();
+    try {
+      if (isValue() && (matrix.rows() == 1 || matrix.cols() == 1)) {
+        matrix.setConstant(as<typename Derived::Scalar>());
+      } else if (matrix.size() == (int)n) {
+        for (size_t i = 0; i < n; ++i)
+          matrix((int)i) = seq_[i].as<typename Derived::Scalar>();
+      } else {
+        const int rows = matrix.rows();
+        const int cols = matrix.cols();
+        if (rows != (int)n)
+          throw YamlException(getFullKeyName(),
+                              "dimensions wrong\n"
+                              "Eigen object: " +
+                                std::to_string(rows) + 'x' +
+                                std::to_string(cols) + '\n' +
+                                "Yaml object:  " + std::to_string(n) + 'x' +
+                                std::to_string(seq_[0].size()));
+        for (size_t i = 0; i < n; ++i) {
+          const size_t m = seq_[i].size();
+          if (cols != (int)m)
+            throw YamlException(
+              getFullKeyName(),
+              "dimensions wrong\n"
+              "Eigen object: " +
+                std::to_string(rows) + 'x' + std::to_string(cols) + '\n' +
+                "Yaml object:  " + std::to_string(n) + 'x' + std::to_string(m));
+          for (size_t j = 0; j < m; ++j)
+            matrix((int)i, (int)j) = seq_[i][j].as<typename Derived::Scalar>();
+        }
+      }
+    } catch (std::exception& e) {
+      throw YamlException(
+        getFullKeyName(),
+        std::string("Can't parse to Eigen object:\n") + e.what());
+    }
+  }
+
+  template<typename Derived,
+           typename std::enable_if<
+             std::is_base_of<Eigen::QuaternionBase<Derived>, Derived>::value,
+             bool>::type = true>
+  void as_quaternion(Derived& quaternion) const {
+    if (seq_.size() != 4)
+      throw YamlException(getFullKeyName(),
+                          "Is not a valid quaternion, because it has " +
+                            std::to_string(seq_.size()) + " entries.");
+
+    try {
+      quaternion.w() = seq_[0].as<typename Derived::Scalar>();
+      quaternion.x() = seq_[1].as<typename Derived::Scalar>();
+      quaternion.y() = seq_[2].as<typename Derived::Scalar>();
+      quaternion.z() = seq_[3].as<typename Derived::Scalar>();
+    } catch (std::exception& e) {
+      throw YamlException(
+        getFullKeyName(),
+        std::string("Can't parse into Eigen quaternion:\n") + e.what());
+    }
+  }
+
+  // File helper
+  static std::string loadFile(const fs::path& filename) {
+    std::ifstream fs(filename.c_str());
+    if (!fs.is_open())
+      throw YamlException("Could not open file \'" + filename.string() + "\'");
+    fs.seekg(0, std::ios::end);
+    const size_t size = fs.tellg();
+    if (size < 1)
+      throw YamlException("Empty file \'" + filename.string() + "\'");
+    std::string buffer((size_t)size, ' ');
+    fs.seekg(0);
+    fs.read(&buffer[0], size);
+    return buffer;
+  }
+
+  [[nodiscard]] std::string getFullKeyName() const {
+    return keyspace_.empty() ? key_ : keyspace_ + "/" + key_;
+  }
+
+  // Members
+  std::string keyspace_;
+  std::string key_;
+  std::string raw_;
+  std::map<std::string, Yaml> map_;
+  std::vector<Yaml> seq_;
+};
+
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/control/base/pose_linear_controller.cpp b/aerial_robot_control/src/control/base/pose_linear_controller.cpp
index a42dbf810..31623e3b5 100644
--- a/aerial_robot_control/src/control/base/pose_linear_controller.cpp
+++ b/aerial_robot_control/src/control/base/pose_linear_controller.cpp
@@ -139,6 +139,8 @@ namespace aerial_robot_control
       }
 
     /* z */
+    getParam<double>(z_nh, "force_landing_descending_rate",  force_landing_descending_rate_, -0.1);
+    if(force_landing_descending_rate_ >= 0) force_landing_descending_rate_ = -0.1;
     loadParam(z_nh);
     pid_controllers_.push_back(PID("z", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d));
     pid_reconf_servers_.push_back(boost::make_shared<PidControlDynamicConfig>(z_nh));
@@ -209,6 +211,7 @@ namespace aerial_robot_control
     omega_ = estimator_->getAngularVel(Frame::COG, estimate_mode_);
     target_rpy_ = navigator_->getTargetRPY();
     target_omega_ = navigator_->getTargetOmega();
+    target_ang_acc_ = navigator_->getTargetAngAcc();
 
     // time diff
     double du = ros::Time::now().toSec() - control_timestamp_;
@@ -276,8 +279,8 @@ namespace aerial_robot_control
           }
         du_rp = 0;
       }
-    pid_controllers_.at(ROLL).update(target_rpy_.x() - rpy_.x(), du_rp, target_omega_.x() - omega_.x());
-    pid_controllers_.at(PITCH).update(target_rpy_.y() - rpy_.y(), du_rp, target_omega_.y() - omega_.y());
+    pid_controllers_.at(ROLL).update(target_rpy_.x() - rpy_.x(), du_rp, target_omega_.x() - omega_.x(), target_ang_acc_.x());
+    pid_controllers_.at(PITCH).update(target_rpy_.y() - rpy_.y(), du_rp, target_omega_.y() - omega_.y(), target_ang_acc_.y());
 
     // yaw
     double err_yaw = angles::shortest_angular_distance(rpy_.z(), target_rpy_.z());
@@ -286,7 +289,7 @@ namespace aerial_robot_control
       {
         err_omega_z = target_omega_.z(); // part of the control in spinal
       }
-    pid_controllers_.at(YAW).update(err_yaw, du, err_omega_z);
+    pid_controllers_.at(YAW).update(err_yaw, du, err_omega_z, target_ang_acc_.z());
 
     // update
     control_timestamp_ = ros::Time::now().toSec();
diff --git a/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp b/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp
index 347858e5c..73c14304d 100644
--- a/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp
+++ b/aerial_robot_control/src/control/under_actuated_lqi_controller.cpp
@@ -183,6 +183,11 @@ void UnderActuatedLQIController::controlCore()
       pid_msg_.z.i_term.at(i) = i_term;
       pid_msg_.z.d_term.at(i) = d_term;
     }
+  // feed-forward term for z
+  Eigen::MatrixXd q_mat_inv = getQInv();
+  double ff_acc_z = navigator_->getTargetAcc().z();
+  Eigen::VectorXd ff_term = q_mat_inv.col(0) * ff_acc_z;
+  target_thrust_z_term += ff_term;
 
   // constraint z (also  I term)
   int index;
@@ -203,6 +208,24 @@ void UnderActuatedLQIController::controlCore()
   allocateYawTerm();
 }
 
+Eigen::MatrixXd UnderActuatedLQIController::getQInv()
+{
+  // wrench allocation matrix
+  const std::vector<Eigen::Vector3d> rotors_origin = robot_model_->getRotorsOriginFromCog<Eigen::Vector3d>();
+  const std::vector<Eigen::Vector3d> rotors_normal = robot_model_->getRotorsNormalFromCog<Eigen::Vector3d>();
+  const auto& rotor_direction = robot_model_->getRotorDirection();
+  const double m_f_rate = robot_model_->getMFRate();
+  double uav_mass_inv = 1.0 / robot_model_->getMass();
+  Eigen::Matrix3d inertia_inv = robot_model_->getInertia<Eigen::Matrix3d>().inverse();
+  Eigen::MatrixXd q_mat = Eigen::MatrixXd::Zero(4, motor_num_);
+  for (unsigned int i = 0; i < motor_num_; ++i) {
+    q_mat(0, i) = rotors_normal.at(i).z() * uav_mass_inv;
+    q_mat.block(1, i, 3, 1) = inertia_inv * (rotors_origin.at(i).cross(rotors_normal.at(i)) + m_f_rate * rotor_direction.at(i + 1) * rotors_normal.at(i));
+  }
+  Eigen::MatrixXd q_mat_inv = aerial_robot_model::pseudoinverse(q_mat);
+  return q_mat_inv;
+}
+
 void UnderActuatedLQIController::allocateYawTerm()
 {
   Eigen::VectorXd target_thrust_yaw_term = Eigen::VectorXd::Zero(motor_num_);
@@ -216,6 +239,13 @@ void UnderActuatedLQIController::allocateYawTerm()
       pid_msg_.yaw.i_term.at(i) = i_term;
       pid_msg_.yaw.d_term.at(i) = d_term;
     }
+
+  // feed-forward term for yaw
+  Eigen::MatrixXd q_mat_inv = getQInv();
+  double ff_ang_yaw = navigator_->getTargetAngAcc().z();
+  Eigen::VectorXd ff_term = q_mat_inv.col(3) * ff_ang_yaw;
+  target_thrust_yaw_term += ff_term;
+
   // constraint yaw (also  I term)
   int index;
   double max_term = target_thrust_yaw_term.cwiseAbs().maxCoeff(&index);
diff --git a/aerial_robot_control/src/flight_navigation.cpp b/aerial_robot_control/src/flight_navigation.cpp
index 564bce188..c6cc14f1f 100644
--- a/aerial_robot_control/src/flight_navigation.cpp
+++ b/aerial_robot_control/src/flight_navigation.cpp
@@ -9,12 +9,14 @@ BaseNavigator::BaseNavigator():
   target_acc_(0, 0, 0),
   target_rpy_(0, 0, 0),
   target_omega_(0, 0, 0),
+  target_ang_acc_(0, 0, 0),
   init_height_(0), land_height_(0),
   force_att_control_flag_(false),
   trajectory_mode_(false),
   trajectory_reset_time_(0),
   teleop_reset_time_(0),
   low_voltage_flag_(false),
+  high_voltage_flag_(false),
   prev_xy_control_mode_(ACC_CONTROL_MODE),
   xy_control_flag_(false),
   vel_based_waypoint_(false),
@@ -42,6 +44,8 @@ void BaseNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
   estimator_ = estimator;
   loop_du_ = loop_du;
 
+  pose_sub_ = nh_.subscribe("target_pose", 1, &BaseNavigator::poseCallback, this, ros::TransportHints().tcpNoDelay());
+  simple_move_base_goal_sub_ = nh_.subscribe("/move_base_simple/goal", 1, &BaseNavigator::simpleMoveBaseGoalCallback, this, ros::TransportHints().tcpNoDelay());
   navi_sub_ = nh_.subscribe("uav/nav", 1, &BaseNavigator::naviCallback, this, ros::TransportHints().tcpNoDelay());
 
   battery_sub_ = nh_.subscribe("battery_voltage_status", 1, &BaseNavigator::batteryCheckCallback, this);
@@ -68,6 +72,7 @@ void BaseNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
   flight_config_pub_ = nh_.advertise<spinal::FlightConfigCmd>("flight_config_cmd", 10);
   power_info_pub_ = nh_.advertise<geometry_msgs::Vector3Stamped>("uav_power", 10);
   flight_state_pub_ = nh_.advertise<std_msgs::UInt8>("flight_state", 1);
+  path_pub_ = nh_.advertise<nav_msgs::Path>("trajectory", 1);
 
   estimate_mode_ = estimator_->getEstimateMode();
   force_landing_start_time_ = ros::Time::now();
@@ -92,6 +97,7 @@ void BaseNavigator::batteryCheckCallback(const std_msgs::Float32ConstPtr &msg)
     voltage += ( (bat_resistance_voltage_rate_ * voltage +  bat_resistance_) * hovering_current_);
 
   float average_voltage = voltage / bat_cell_;
+  float input_cell = voltage / VOLTAGE_100P;
   float percentage = 0;
   if(average_voltage  > VOLTAGE_90P) percentage = (average_voltage - VOLTAGE_90P) / (VOLTAGE_100P - VOLTAGE_90P) * 10 + 90;
   else if (average_voltage  > VOLTAGE_80P) percentage = (average_voltage - VOLTAGE_80P) / (VOLTAGE_90P - VOLTAGE_80P) * 10 + 80;
@@ -120,6 +126,13 @@ void BaseNavigator::batteryCheckCallback(const std_msgs::Float32ConstPtr &msg)
   else
     low_voltage_flag_  = false;
 
+  if(input_cell - bat_cell_ > high_voltage_cell_thre_)
+    {
+      high_voltage_flag_ = true;
+    }
+  else
+    high_voltage_flag_ = false;
+
   if(power_info_pub_.getNumSubscribers() == 0) return;
 
   geometry_msgs::Vector3Stamped power_info_msgs;
@@ -130,6 +143,28 @@ void BaseNavigator::batteryCheckCallback(const std_msgs::Float32ConstPtr &msg)
 
 }
 
+void BaseNavigator::poseCallback(const geometry_msgs::PoseStampedConstPtr & msg)
+{
+  if (traj_generator_ptr_.get() == nullptr)
+    {
+      ROS_DEBUG("traj_generator_ptr_ is null");
+    }
+
+  generateNewTrajectory(*msg);
+}
+
+void BaseNavigator::simpleMoveBaseGoalCallback(const geometry_msgs::PoseStampedConstPtr & msg)
+{
+  if (traj_generator_ptr_.get() == nullptr)
+    {
+      ROS_DEBUG("traj_generator_ptr_ is null");
+    }
+  geometry_msgs::PoseStamped target_pose = *msg;
+  target_pose.pose.position.z = getTargetPos().z();
+  generateNewTrajectory(target_pose);
+}
+
+
 void BaseNavigator::naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg)
 {
   if(getNaviState() == TAKEOFF_STATE || getNaviState() == LAND_STATE) return;
@@ -412,8 +447,6 @@ void BaseNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg)
 
       setNaviState(LAND_STATE);
       //update
-      setTargetXyFromCurrentState();
-      setTargetYawFromCurrentState();
       ROS_INFO("Joy Control: Land state");
 
       return;
@@ -647,21 +680,64 @@ void BaseNavigator::update()
       if(normal_land && !force_att_control_flag_)
         {
           setNaviState(LAND_STATE);
-          setTargetXyFromCurrentState();
-          setTargetYawFromCurrentState();
         }
     }
 
   /* update the target pos and velocity */
   if (trajectory_mode_)
     {
-      if (ros::Time::now().toSec() > trajectory_reset_time_)
+      if (traj_generator_ptr_.get() == nullptr)
         {
-          setTargetZeroVel();
+          if (ros::Time::now().toSec() > trajectory_reset_time_)
+            {
+              setTargetZeroVel();
+              setTargetZeroAcc();
 
-          trajectory_mode_ = false;
+              setTargetZeroOmega();
+              setTargetZeroAngAcc();
 
-          ROS_INFO("[Flight nav] stop trajectory mode");
+              trajectory_mode_ = false;
+
+              ROS_INFO("[Flight nav] stop trajectory mode in POS-VEL mode");
+            }
+        }
+      else
+        {
+          // trajectory following mode
+          double t = ros::Time::now().toSec();
+          double end_t = traj_generator_ptr_->getEndSetpoint().state.t;
+          if (t > end_t)
+            {
+              ROS_INFO("[Nav] reach the end of trajectory");
+
+              setTargetZeroVel();
+              setTargetZeroAcc();
+
+              setTargetZeroOmega();
+              setTargetZeroAngAcc();
+
+              trajectory_mode_ = false;
+
+              traj_generator_ptr_.reset();
+            }
+          else
+            {
+              agi::QuadState target_state = traj_generator_ptr_->getState(t);
+              setTargetPos(tf::Vector3(target_state.p(0), target_state.p(1), target_state.p(2)));
+              setTargetVel(tf::Vector3(target_state.v(0), target_state.v(1), target_state.v(2)));
+              setTargetAcc(tf::Vector3(target_state.a(0), target_state.a(1), target_state.a(2)));
+
+              double target_yaw = target_state.getYaw();
+              double target_omega_z = target_state.w(2);
+              double target_ang_acc_z = target_state.tau(2);
+              setTargetYaw(target_yaw);
+              setTargetOmegaZ(target_omega_z);
+              setTargetAngAccZ(target_ang_acc_z);
+
+              tf::Vector3 curr_pos = estimator_->getPos(Frame::COG, estimate_mode_);
+              double yaw_angle = estimator_->getState(State::YAW_COG, estimate_mode_)[0];
+              ROS_INFO_THROTTLE(0.5, "[Nav] trajectory mode, target pos&yaw: [%f, %f, %f, %f], curr pos&yaw: [%f, %f, %f, %f]", target_state.p(0), target_state.p(1), target_state.p(2), target_yaw, curr_pos.x(), curr_pos.y(), curr_pos.z(), yaw_angle);
+            }
         }
     }
   else
@@ -698,6 +774,12 @@ void BaseNavigator::update()
             setNaviState(ARM_OFF_STATE);
             break;
           }
+        if(high_voltage_flag_)
+          {
+            setNaviState(ARM_OFF_STATE);
+            ROS_ERROR("high voltage!");
+            break;
+          }
 
         estimator_->setSensorFusionFlag(true);
         force_landing_flag_ = false;
@@ -746,7 +828,7 @@ void BaseNavigator::update()
                 ROS_INFO("expected land height: %f (current height: %f), velocity: %f ", land_height_, curr_pos.z(), vel);
 
                 if (fabs(delta) < land_pos_convergent_thresh_ &&
-                    fabs(vel) < land_vel_convergent_thresh_)
+                    vel > -land_vel_convergent_thresh_)
                   {
                     ROS_INFO("\n \n ======================  \n Land !!! \n ====================== \n");
                     ROS_INFO("Start disarming motors");
@@ -877,6 +959,90 @@ void BaseNavigator::updateLandCommand()
   setTargetVelZ(land_descend_vel_);
 }
 
+
+void BaseNavigator::generateNewTrajectory(geometry_msgs::PoseStamped pose)
+{
+  if (traj_generator_ptr_.get() != nullptr)
+    {
+      ROS_WARN("[Nav] force to finish the last trajectory following");
+      traj_generator_ptr_.reset();
+    }
+
+  agi::QuadState start_state;
+  start_state.setZero();
+  tf::Vector3 last_target_pos = getTargetPos();
+  start_state.p = agi::Vector<3>(last_target_pos.x(), last_target_pos.y(), last_target_pos.z());
+  tf::Vector3 last_target_vel = getTargetVel();
+  start_state.v = agi::Vector<3>(last_target_vel.x(), last_target_vel.y(), last_target_vel.z());
+  tf::Vector3 last_target_acc = getTargetAcc();
+  start_state.a = agi::Vector<3>(last_target_acc.x(), last_target_acc.y(), last_target_acc.z());
+
+  double last_target_yaw_angle = getTargetRPY().z();
+  start_state.setYaw(last_target_yaw_angle);
+  double last_target_omega_z = getTargetOmega().z();
+  start_state.w(2) = last_target_omega_z;
+  start_state.t = ros::Time::now().toSec();
+
+  agi::QuadState end_state;
+  end_state.setZero();
+  Eigen::Vector3d p;
+  tf::pointMsgToEigen(pose.pose.position, p);
+  end_state.p = p;
+  agi::Quaternion q;
+  tf::quaternionMsgToEigen(pose.pose.orientation, q);
+  if (std::fabs(1 - q.squaredNorm())  < 1e-6)
+    {
+      end_state.q(q);
+    }
+  else
+    {
+      ROS_WARN("[Nav] the target quaternion is invalid [%f, %f, %f, %f], reset as the start state", q.x(), q.y(), q.z(), q.w());
+      end_state.q(start_state.q());
+
+    }
+
+  double du_tran = (end_state.p - start_state.p).norm() / trajectory_mean_vel_;
+  double du_rot = fabs(end_state.getYaw() - start_state.getYaw()) / trajectory_mean_yaw_rate_;
+  double du = std::max(du_tran, trajectory_min_du_);
+  if (!enable_latch_yaw_trajectory_)
+    {
+      du = std::max(du_rot, du);
+    }
+
+  end_state.t = start_state.t + du;
+
+  ROS_INFO_STREAM("[Nav] revceive the new target pose of " << end_state.p.transpose()
+                  << " (yaw: " << end_state.getYaw() << ")"
+                  << " which starts with the last target pose: " << start_state.p.transpose()
+                  << " (yaw: " << start_state.getYaw() << ")"
+                  << " and target vel: " << start_state.v.transpose()
+                  << " (omega z: " << start_state.w(2) << ")"
+                  << " and target acc: " << start_state.a.transpose());
+
+  traj_generator_ptr_ = std::make_shared<agi::MinJerkTrajectory>(start_state, end_state);
+
+  trajectory_mode_ = true;
+
+  double dt = 0.02;
+  nav_msgs::Path msg;
+  msg.header.stamp.fromSec(start_state.t);
+  msg.header.frame_id = "world";
+
+  for (double t = 0; t <= du; t += dt) {
+    geometry_msgs::PoseStamped pose_stamp;
+    pose_stamp.header.stamp = msg.header.stamp + ros::Duration(t);
+    pose_stamp.header.frame_id = msg.header.frame_id;
+
+    agi::QuadState state = traj_generator_ptr_->getState(start_state.t + t);
+
+    tf::pointEigenToMsg(state.p, pose_stamp.pose.position);
+    tf::quaternionEigenToMsg(state.q(), pose_stamp.pose.orientation);
+    msg.poses.push_back(pose_stamp);
+  }
+  path_pub_.publish(msg);
+
+}
+
 void BaseNavigator::rosParamInit()
 {
   getParam<bool>(nhp_, "param_verbose", param_verbose_, false);
@@ -884,15 +1050,32 @@ void BaseNavigator::rosParamInit()
   ros::NodeHandle nh(nh_, "navigation");
   getParam<int>(nh, "xy_control_mode", xy_control_mode_, 0);
   getParam<double>(nh, "takeoff_height", takeoff_height_, 0.0);
+
   getParam<double>(nh, "land_descend_vel",land_descend_vel_, -0.3);
+  if (land_descend_vel_ >= 0) {
+    ROS_WARN("land_descend_vel_ (current value: %f) should be negative", land_descend_vel_);
+    land_descend_vel_ == -0.3;
+  }
+
   getParam<double>(nh, "hover_convergent_duration", hover_convergent_duration_, 1.0);
-  getParam<double>(nh, "land_check_duration", land_check_duration_, 1.0);
+  getParam<double>(nh, "land_check_duration", land_check_duration_, 0.5);
+  if (land_check_duration_ < 0.5) {
+    ROS_WARN("land_check_duration_ (current value: %f) should be not smaller than 0.5", land_check_duration_);
+    land_check_duration_ = 0.5;
+  }
+
   getParam<double>(nh, "trajectory_reset_duration", trajectory_reset_duration_, 0.5);
   getParam<double>(nh, "teleop_reset_duration", teleop_reset_duration_, 0.5);
   getParam<double>(nh, "z_convergent_thresh", z_convergent_thresh_, 0.05);
   getParam<double>(nh, "xy_convergent_thresh", xy_convergent_thresh_, 0.15);
   getParam<double>(nh, "land_pos_convergent_thresh", land_pos_convergent_thresh_, 0.02);
-  getParam<double>(nh, "land_vel_convergent_thresh", land_vel_convergent_thresh_, 0.01);
+  getParam<double>(nh, "land_vel_convergent_thresh", land_vel_convergent_thresh_, 0.05);
+
+  //*** trajectory
+  getParam<double>(nh, "trajectory_mean_vel", trajectory_mean_vel_, 0.5);
+  getParam<double>(nh, "trajectory_mean_yaw_rate", trajectory_mean_yaw_rate_, 0.3);
+  getParam<double>(nh, "trajectory_min_du", trajectory_min_du_, 2.0);
+  getParam<bool>(nh, "enable_latch_yaw_trajectory", enable_latch_yaw_trajectory_, false);
 
   //*** auto vel nav
   getParam<double>(nh, "nav_vel_limit", nav_vel_limit_, 0.2);
@@ -919,6 +1102,7 @@ void BaseNavigator::rosParamInit()
   ros::NodeHandle bat_nh(nh_, "bat_info");
   getParam<int>(bat_nh, "bat_cell", bat_cell_, 0); // Lipo battery cell
   getParam<double>(bat_nh, "low_voltage_thre", low_voltage_thre_, 0.1); // Lipo battery cell
+  getParam<double>(bat_nh, "high_voltage_cell_thre", high_voltage_cell_thre_, 1.0);
   getParam<double>(bat_nh, "bat_resistance", bat_resistance_, 0.0); //Battery internal resistance
   getParam<double>(bat_nh, "bat_resistance_voltage_rate", bat_resistance_voltage_rate_, 0.0); //Battery internal resistance_voltage_rate
   getParam<double>(bat_nh, "hovering_current", hovering_current_, 0.0); // current at hovering state
diff --git a/aerial_robot_control/src/trajectory/base/parameter_base.cpp b/aerial_robot_control/src/trajectory/base/parameter_base.cpp
new file mode 100644
index 000000000..0fba53aff
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/base/parameter_base.cpp
@@ -0,0 +1,18 @@
+#include "aerial_robot_control/trajectory/base/parameter_base.hpp"
+
+#include <fstream>
+
+namespace agi {
+
+bool ParameterBase::load(const fs::path& filename) {
+  return load(Yaml(filename));
+}
+
+bool ParameterBase::load(const Yaml& node) {
+  throw ParameterException("ParameterBase load should not be called!");
+  return false;
+}
+
+bool ParameterBase::valid() const { return false; }
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/math/math.cpp b/aerial_robot_control/src/trajectory/math/math.cpp
new file mode 100644
index 000000000..aaadcd226
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/math/math.cpp
@@ -0,0 +1,138 @@
+#include "aerial_robot_control/trajectory/math/math.hpp"
+
+namespace agi {
+
+Matrix<3, 3> skew(const Vector<3>& v) {
+  return (Matrix<3, 3>() << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(),
+          0)
+    .finished();
+}
+
+Matrix<4, 4> Q_left(const Quaternion& q) {
+  return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), -q.z(),
+          q.y(), q.y(), q.z(), q.w(), -q.x(), q.z(), -q.y(), q.x(), q.w())
+    .finished();
+}
+
+Matrix<4, 4> Q_right(const Quaternion& q) {
+  return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), q.z(),
+          -q.y(), q.y(), -q.z(), q.w(), q.x(), q.z(), q.y(), -q.x(), q.w())
+    .finished();
+}
+
+Matrix<4, 3> qFromQeJacobian(const Quaternion& q) {
+  return (Matrix<4, 3>() << -1.0 / q.w() * q.vec().transpose(),
+          Matrix<3, 3>::Identity())
+    .finished();
+}
+
+Matrix<4, 4> qConjugateJacobian() {
+  return Matrix<4, 1>(1, -1, -1, -1).asDiagonal();
+}
+
+Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) {
+  return 2.0 *
+         (Matrix<3, 3>() << (q.y() + q.z() * q.x() / q.w()) * t.y() +
+                              (q.z() - q.y() * q.x() / q.w()) *
+                                t.z(),  // entry 0,0
+          -2.0 * q.y() * t.x() + (q.x() + q.z() * q.y() / q.w()) * t.y() +
+            (q.w() - q.y() * q.y() / q.w()) * t.z(),  // entry 0,1
+          -2.0 * q.z() * t.x() + (-q.w() + q.z() * q.z() / q.w()) * t.y() +
+            (q.x() - q.y() * q.z() / q.w()) * t.z(),  // entry 0,2
+
+          (q.y() - q.z() * q.x() / q.w()) * t.x() + (-2.0 * q.x()) * t.y() +
+            (-q.w() + q.x() * q.x() / q.w()) * t.z(),  // entry 1,0
+          (q.x() - q.z() * q.y() / q.w()) * t.x() +
+            (q.z() + q.x() * q.y() / q.w()) * t.z(),  // entry 1,1
+          (q.w() - q.z() * q.z() / q.w()) * t.x() + (-2.0 * q.z()) * t.y() +
+            (q.y() + q.x() * q.z() / q.w()) * t.z(),  // entry 1,2
+
+          (q.z() + q.y() * q.x() / q.w()) * t.x() +
+            (q.w() - q.x() * q.x() / q.w()) * t.y() +
+            (-2.0 * q.x()) * t.z(),  // entry 2,0
+          (-q.w() + q.y() * q.y() / q.w()) * t.x() +
+            (q.z() - q.x() * q.y() / q.w()) * t.y() +
+            (-2.0 * q.y()) * t.z(),  // entry 2,1
+          (q.x() + q.y() * q.z() / q.w()) * t.x() +
+            (q.y() - q.x() * q.z() / q.w()) * t.y()  // entry 2,2
+          )
+           .finished();
+}
+
+Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) {
+  return 2.0 * (Matrix<3, 3>()
+                  << (q.y() - q.z() * q.x() / q.w()) * t.y() +
+                       (q.z() + q.y() * q.x() / q.w()) * t.z(),  // entry 0,0
+                -2.0 * q.y() * t.x() + (q.x() - q.z() * q.y() / q.w()) * t.y() -
+                  (q.w() - q.y() * q.y() / q.w()) * t.z(),  // entry 0,1
+                -2.0 * q.z() * t.x() + (q.w() - q.z() * q.z() / q.w()) * t.y() +
+                  (q.x() + q.y() * q.z() / q.w()) * t.z(),  // entry 0,2
+
+                (q.y() + q.z() * q.x() / q.w()) * t.x() - 2.0 * q.x() * t.y() +
+                  (q.w() - q.x() * q.x() / q.w()) * t.z(),  // entry 1,0
+                (q.x() + q.z() * q.y() / q.w()) * t.x() +
+                  (q.z() - q.x() * q.y() / q.w()) * t.z(),  // entry 1,1
+                -(q.w() - q.z() * q.z() / q.w()) * t.x() - 2.0 * q.z() * t.y() +
+                  (q.y() - q.x() * q.z() / q.w()) * t.z(),  // entry 1,2
+
+                (q.z() - q.y() * q.x() / q.w()) * t.x() -
+                  (q.w() - q.x() * q.x() / q.w()) * t.y() -
+                  2.0 * q.x() * t.z(),  // entry 2,0
+                (q.w() - q.y() * q.y() / q.w()) * t.x() +
+                  (q.z() + q.x() * q.y() / q.w()) * t.y() -
+                  2.0 * q.y() * t.z(),  // entry 2,1
+                (q.x() - q.y() * q.z() / q.w()) * t.x() +
+                  (q.y() + q.x() * q.z() / q.w()) * t.y()  // entry 2,2
+                )
+                 .finished();
+}
+
+void matrixToTripletList(const SparseMatrix& matrix,
+                         std::vector<SparseTriplet>* const list,
+                         const int row_offset, const int col_offset) {
+  list->reserve((size_t)matrix.nonZeros() + list->size());
+
+  for (int i = 0; i < matrix.outerSize(); i++) {
+    for (typename SparseMatrix::InnerIterator it(matrix, i); it; ++it) {
+      list->emplace_back(it.row() + row_offset, it.col() + col_offset,
+                         it.value());
+    }
+  }
+}
+
+void matrixToTripletList(const Matrix<Dynamic, Dynamic>& matrix,
+                         std::vector<SparseTriplet>* const list,
+                         const int row_offset, const int col_offset) {
+  const SparseMatrix sparse = matrix.sparseView();
+  matrixToTripletList(sparse, list, row_offset, col_offset);
+}
+
+void insert(const SparseMatrix& from, SparseMatrix* const into,
+            const int row_offset, const int col_offset) {
+  if (into == nullptr) return;  // TODO: Handle exception
+  std::vector<SparseTriplet> v;
+  matrixToTripletList(*into, &v);
+  matrixToTripletList(from, &v, row_offset, col_offset);
+
+  into->setFromTriplets(
+    v.begin(), v.end(),
+    [](const Scalar& older, const Scalar& newer) { return newer; });
+}
+
+void insert(const Matrix<>& from, SparseMatrix* const into,
+            const int row_offset, const int col_offset) {
+  if (into == nullptr) return;  // TODO: Handle exception
+  const SparseMatrix from_sparse = from.sparseView();
+  insert(from_sparse, into, row_offset, col_offset);
+}
+
+inline void insert(const Matrix<>& from, Matrix<>* const into,
+                   const int row_offset, const int col_offset) {
+  into->block(row_offset, col_offset, from.rows(), from.cols()) = from;
+}
+
+Vector<> clip(const Vector<>& v, const Vector<>& bound) {
+  return v.cwiseMin(bound).cwiseMax(-bound);
+}
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/reference_base.cpp b/aerial_robot_control/src/trajectory/reference_base.cpp
new file mode 100644
index 000000000..5778e90da
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/reference_base.cpp
@@ -0,0 +1,82 @@
+#include "aerial_robot_control/trajectory/reference_base.hpp"
+
+#include <iomanip>
+#include <iostream>
+
+#include "aerial_robot_control/trajectory/math/gravity.hpp"
+
+namespace agi {
+
+ReferenceBase::ReferenceBase(const std::string& name) : name_(name) {}
+
+ReferenceBase::ReferenceBase(const QuadState& state, const Scalar duration,
+                             const std::string& name)
+  : start_state_(state),
+    duration_(duration),
+    name_(name) {}  // TODO: , logger_(name) {}
+
+ReferenceBase::~ReferenceBase() {}
+
+Setpoint ReferenceBase::getSetpoint(const Scalar t, const Scalar heading) {
+  QuadState query_state;
+  query_state.t = t;
+  if (std::isfinite(heading)) query_state.q(heading);
+  return getSetpoint(query_state, t);
+}
+
+Setpoint ReferenceBase::getSetpoint(const QuadState& state) {
+  return getSetpoint(state, state.t);
+}
+
+Setpoint ReferenceBase::getStartSetpoint() {
+  Setpoint setpoint;
+  setpoint.state = start_state_;
+  setpoint.input = Command(start_state_.t, G, Vector<3>::Zero());
+  return setpoint;
+}
+
+Setpoint ReferenceBase::getEndSetpoint() {
+  Setpoint setpoint;
+  setpoint.state = start_state_;
+  setpoint.state.t = start_state_.t + duration_;
+  setpoint.input = Command(start_state_.t + duration_, G, Vector<3>::Zero());
+  return setpoint;
+}
+
+bool ReferenceBase::truncate(const Scalar& t) {
+  if (t <= start_state_.t) return false;
+  duration_ = t - start_state_.t;
+  return true;
+}
+
+bool ReferenceBase::isTimeInRange(const Scalar time) const {
+  return time >= getStartTime() && time <= getEndTime();
+}
+
+std::string ReferenceBase::time_in_HH_MM_SS_MMM(const Scalar time) const {
+  if (!std::isfinite(time)) return "inf";
+
+  const unsigned int ms = fmod(time, 1000.0);
+
+  // convert to std::time_t in order to convert to std::tm (broken time)
+  std::time_t timer = (std::time_t)(time);
+
+  // convert to broken time
+  std::tm bt = *std::localtime(&timer);
+
+  std::ostringstream oss;
+
+  oss << std::put_time(&bt, "%H:%M:%S");  // HH:MM:SS
+  oss << '.' << std::setfill('0') << std::setw(3) << ms;
+
+  return oss.str();
+}
+
+std::ostream& operator<<(std::ostream& os, const ReferenceBase& ref) {
+  os << std::setw(30) << std::left << ref.name() << "  | "
+     << ref.time_in_HH_MM_SS_MMM(ref.getStartTime()) << " --> "
+     << ref.getDuration() << "s --> "
+     << ref.time_in_HH_MM_SS_MMM(ref.getEndTime()) << " |" << std::endl;
+  return os;
+}
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/test.cpp b/aerial_robot_control/src/trajectory/test.cpp
new file mode 100644
index 000000000..4e47bda63
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/test.cpp
@@ -0,0 +1,137 @@
+#include <ros/ros.h>
+#include <aerial_robot_msgs/States.h>
+#include <nav_msgs/Path.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <eigen_conversions/eigen_msg.h>
+#include <aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp>
+#include <visualization_msgs/MarkerArray.h>
+
+int main (int argc, char **argv)
+{
+  ros::init (argc, argv, "aeria_robot_base");
+  agi::QuadState start_state;
+  agi::QuadState end_state;
+
+  double du = 2; // 2 [sec]
+  start_state.setZero();
+  start_state.v = agi::Vector<3>(-1,0,0);
+  end_state.setZero();
+  end_state.p = agi::Vector<3>(1,2,3);
+  end_state.v = agi::Vector<3>(0,0,0);
+  end_state.t = du;
+
+  // mediate points
+  agi::QuadState intermediate1_state;
+  intermediate1_state.setZero();
+  intermediate1_state.p = agi::Vector<3>(0.5,-1,1);
+  intermediate1_state.t = du/2;
+
+  agi::QuadState intermediate2_state;
+  intermediate2_state.setZero();
+  intermediate2_state.p = agi::Vector<3>(1.0,0,2);
+  intermediate2_state.t = du/4 * 3;
+
+  std::vector<agi::QuadState> states;
+  states.push_back(start_state);
+  states.push_back(intermediate1_state);
+  states.push_back(intermediate2_state);
+  states.push_back(end_state);
+
+  ros::NodeHandle nh;
+  ros::Publisher pub = nh.advertise<nav_msgs::Path>("trajectory", 1);
+  ros::Publisher pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 1);
+  ros::Publisher twist_pub = nh.advertise<geometry_msgs::TwistStamped>("twist", 1);
+  ros::Publisher acc_pub = nh.advertise<geometry_msgs::Vector3Stamped>("acc", 1);
+  ros::Publisher marker_pub = nh.advertise<visualization_msgs::MarkerArray>("marker", 1);
+  ros::Duration(0.5).sleep();
+
+  std::shared_ptr test_ptr = std::make_shared<agi::MinSnapTrajectory>(states);
+
+
+  double dt = 0.02;
+
+  nav_msgs::Path msg;
+  msg.header.stamp = ros::Time::now();
+  msg.header.frame_id = "world";
+
+  for (double t = 0; t <= du; t += dt) {
+    geometry_msgs::PoseStamped pose_stamp;
+    pose_stamp.header.stamp = msg.header.stamp + ros::Duration(t);
+    pose_stamp.header.frame_id = msg.header.frame_id;
+
+    agi::QuadState state = test_ptr->getState(t);
+
+    tf::pointEigenToMsg(state.p, pose_stamp.pose.position);
+    tf::quaternionEigenToMsg(state.q(), pose_stamp.pose.orientation);
+    msg.poses.push_back(pose_stamp);
+
+    // ROS_INFO_STREAM("position: " << state.p.transpose());
+
+    // debug
+    pose_pub.publish(pose_stamp);
+
+    geometry_msgs::TwistStamped twist_stamp;
+    twist_stamp.header.stamp = pose_stamp.header.stamp;
+    twist_stamp.header.frame_id = pose_stamp.header.frame_id;
+    tf::vectorEigenToMsg(state.v, twist_stamp.twist.linear);
+    tf::vectorEigenToMsg(state.w, twist_stamp.twist.angular);
+    twist_pub.publish(twist_stamp);
+
+    geometry_msgs::Vector3Stamped acc_stamp;
+    acc_stamp.header.stamp = pose_stamp.header.stamp;
+    acc_stamp.header.frame_id = pose_stamp.header.frame_id;
+    tf::vectorEigenToMsg(state.a, acc_stamp.vector);
+    acc_pub.publish(acc_stamp);
+  }
+
+  pub.publish(msg);
+
+  visualization_msgs::MarkerArray marker_array_msg;
+
+  visualization_msgs::Marker marker_msg;
+  marker_msg.header.stamp = msg.header.stamp;
+  marker_msg.header.frame_id = msg.header.frame_id;
+  marker_msg.id = 0;
+  marker_msg.action = visualization_msgs::Marker::ADD;
+  marker_msg.type = visualization_msgs::Marker::SPHERE;
+  marker_msg.pose.position.x = start_state.p(0);
+  marker_msg.pose.position.y = start_state.p(1);
+  marker_msg.pose.position.z = start_state.p(2);
+  marker_msg.pose.orientation.w = 1;
+  double r = 0.2;
+  marker_msg.scale.x = r;
+  marker_msg.scale.y = r;
+  marker_msg.scale.z = r;
+  marker_msg.color.r = 1.0;
+  marker_msg.color.a = 1.0;
+  marker_array_msg.markers.push_back(marker_msg);
+
+  marker_msg.id = 1;
+  marker_msg.pose.position.x = end_state.p(0);
+  marker_msg.pose.position.y = end_state.p(1);
+  marker_msg.pose.position.z = end_state.p(2);
+  marker_array_msg.markers.push_back(marker_msg);
+
+  marker_msg.id = 2;
+  marker_msg.pose.position.x = intermediate1_state.p(0);
+  marker_msg.pose.position.y = intermediate1_state.p(1);
+  marker_msg.pose.position.z = intermediate1_state.p(2);
+  marker_array_msg.markers.push_back(marker_msg);
+
+  marker_msg.id = 3;
+  marker_msg.pose.position.x = intermediate2_state.p(0);
+  marker_msg.pose.position.y = intermediate2_state.p(1);
+  marker_msg.pose.position.z = intermediate2_state.p(2);
+  marker_array_msg.markers.push_back(marker_msg);
+
+  marker_pub.publish(marker_array_msg);
+
+  ros::waitForShutdown();
+  return 0;
+}
+
+
+
+
diff --git a/aerial_robot_control/src/trajectory/test_visualize.rviz b/aerial_robot_control/src/trajectory/test_visualize.rviz
new file mode 100644
index 000000000..3cde19e00
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/test_visualize.rviz
@@ -0,0 +1,153 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Path1
+        - /MarkerArray1
+      Splitter Ratio: 0.5
+    Tree Height: 1088
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: trajectory
+      Unreliable: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /marker
+      Name: MarkerArray
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 9.436322212219238
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.37979578971862793
+        Y: 0.44448453187942505
+        Z: 2.2628087997436523
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2953988015651703
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5053756833076477
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1385
+  Hide Left Dock: false
+  Hide Right Dock: true
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diff --git a/aerial_robot_control/src/trajectory/trajectory_reference/polynomial.cpp b/aerial_robot_control/src/trajectory/trajectory_reference/polynomial.cpp
new file mode 100644
index 000000000..50b0334f9
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/trajectory_reference/polynomial.cpp
@@ -0,0 +1,299 @@
+#include "aerial_robot_control/trajectory/trajectory_reference/polynomial.hpp"
+
+#include <iostream>
+
+namespace agi {
+
+/* Create exponents as in
+/  derivative_order = 0: [ 0 1 2 3 4 ... N]
+/  derivative_order = 1: [ 0 0 1 2 3 ... N-1]
+/  derivative_order = 2: [ 0 0 0 1 2 ... N-2]
+/  ...
+*/
+Array<> createExponents(const int order) {
+  const int N = order + 1;
+  Array<> P = Array<>::Zero(N, N);
+  P.col(0) = ArrayVector<>::LinSpaced(N, 0, order);
+
+  for (int i = 1; i < N; ++i)
+    P.col(i) << ArrayVector<>::Zero(i), P.col(0).head(N - i);
+
+  return P;
+}
+
+/* Create derivative coefficients as in
+/  derivative_order = 0: [ 1 1 1 1 1 ...]
+/  derivative_order = 1: [ 0 1 2 3 4 ...]
+/  derivative_order = 2: [ 0 0 2 6 12 ...]
+/  ...
+*/
+Array<> createAlpha(const int order) {
+  const int N = order + 1;
+  const ArrayVector<> p = ArrayVector<>::LinSpaced(N, 0, order);
+
+  Array<> alpha = Array<>::Ones(N, N);
+
+  for (int i = 1; i < N; ++i) {
+    alpha.block(i - 1, i, N + 1 - i, N - i) *=
+      p.head(N + 1 - i).replicate(1, N - i);
+  }
+
+  return alpha;
+}
+
+template<typename Solver>
+Polynomial<Solver>::Polynomial()
+  : order_(11),
+    continuity_(-1),
+    c_(Vector<>::Constant(12, NAN)),
+    exponents_(createExponents(11)),
+    alpha_(createAlpha(11)),
+    weights_(Vector<4>(0, 0, 0, 1)) {}
+
+template<typename Solver>
+Polynomial<Solver>::Polynomial(const int order, const Vector<>& weights,
+                               const int continuity)
+  : order_(order),
+    continuity_(continuity),
+    c_(Vector<>::Constant(order + 1, NAN)),
+    exponents_(createExponents(order)),
+    alpha_(createAlpha(order)),
+    weights_(weights) {}
+
+template<>
+Polynomial<void>::Polynomial()
+  : order_(5),
+    continuity_(3),
+    c_(Vector<>::Constant(6, NAN)),
+    exponents_(createExponents(5)),
+    alpha_(createAlpha(5)),
+    weights_(Vector<3>(0, 0, 1)),
+    b_(Vector<>::Constant(6, NAN)) {}
+
+template<typename Solver>
+bool Polynomial<Solver>::scale(const Scalar start_time, const Scalar duration) {
+  bool success = false;
+  if (std::isfinite(start_time)) {
+    t_offset_ = start_time;
+    success = true;
+  }
+
+  if (std::isfinite(duration)) {
+    if (duration > 0.0) {
+      t_scale_ = 1.0 / duration;
+    } else {
+      success = false;
+    }
+  }
+
+  return success;
+}
+
+template<typename Solver>
+int Polynomial<Solver>::addConstraint(const Scalar time,
+                                      const Vector<>& constraint) {
+  const ArrayVector<> constraints =
+    continuity_ > 0
+      ? constraint.head(std::min((int)constraint.size(), continuity_ + 1))
+      : constraint;
+  const int n = constraints.isFinite().cast<int>().sum();
+  if (n < 1) return 0;
+
+  const Scalar tau = tauFromTime(time);
+
+  const int n_old = A_.allFinite() ? A_.rows() : 0;
+
+  if (n_old > 0) {
+    const Matrix<> A_old = A_;
+    const Vector<> b_old = b_;
+
+    A_.resize(n_old + n, size());
+    b_.resize(n_old + n);
+
+    A_.topRows(n_old) = A_old;
+    b_.head(n_old) = b_old;
+  } else {
+    A_.resize(n, size());
+    b_.resize(n);
+  }
+
+  int idx = n_old;
+  for (int i = 0; i < constraints.size(); ++i) {
+    if (std::isfinite(constraints(i))) {
+      A_.row(idx) =
+        std::pow(t_scale_, i) * alpha_.col(i) * tauVector(tau, i).array();
+      b_(idx) = constraints(i);
+      ++idx;
+    }
+  }
+
+  return n;
+}
+
+template<>
+int Polynomial<void>::addConstraint(const Scalar time,
+                                    const Vector<>& constraint) {
+  if (constraint.rows() < 3) {
+    std::cout << "Closed form polynomial constraints must be of size 3!"
+              << std::endl;
+    return 0;
+  }
+
+  if (std::abs(time - t_offset_) < 1e-3) {
+    b_.head<3>() = constraint.head<3>();
+  } else if (std::abs(time - t_offset_ - 1.0 / t_scale_) < 1e-3) {
+    b_.tail<3>() = constraint.head<3>();
+  } else {
+    std::cout
+      << "Closed form polynomial constraints must be at start or end time!"
+      << std::endl;
+    return 0;
+  }
+
+  return 3;
+}
+
+template<typename Solver>
+Scalar Polynomial<Solver>::tauFromTime(const Scalar t) const {
+  return t_scale_ * (t - t_offset_);
+}
+
+template<typename Solver>
+Vector<> Polynomial<Solver>::tauVector(const Scalar tau,
+                                       const int order) const {
+  return ArrayVector<>::Constant(size(), tau).pow(exponents_.col(order));
+}
+
+template<typename Solver>
+Vector<> Polynomial<Solver>::tauVectorFromTime(const Scalar time,
+                                               const int order) const {
+  return tauVector(tauFromTime(time), order);
+}
+
+template<typename Solver>
+Matrix<> Polynomial<Solver>::polyMatrix(const Scalar tau,
+                                        const int order) const {
+  const ArrayVector<> tau_vec = tauVector(tau);
+
+  const int N = size();
+  Array<> M = alpha_.block(0, 0, N, order);
+
+  for (int i = 0; i < order; ++i)
+    M.block(i, i, N - i, 1) *= tau_vec.head(N - i);
+
+  return M.transpose();
+}
+
+template<typename Solver>
+Matrix<> Polynomial<Solver>::polyMatrixFromTime(const Scalar time,
+                                                const int order) const {
+  return polyMatrix(tauFromTime(time), order);
+}
+
+template<typename Solver>
+void Polynomial<Solver>::reset() {
+  H_ = Matrix<>::Constant(1, order_, NAN);
+  A_ = Matrix<>::Constant(1, order_, NAN);
+  b_ = Vector<>::Constant(1, NAN);
+}
+
+template<typename Solver>
+Matrix<> Polynomial<Solver>::createH(const Vector<>& weights) const {
+  const int nW = std::min((int)weights.rows(), order_);
+  const Matrix<> W = weights.head(nW).asDiagonal();
+
+  const Vector<> time_scales = ArrayVector<>::Constant(nW, t_scale_)
+                                 .pow(ArrayVector<>::LinSpaced(nW, 2, 2 * nW));
+
+  const int n = size();
+  Array<> H = Array<>::Zero(n, n);
+
+  for (int i = 0; i < nW; ++i) {
+    if (weights(i) <= 0.0) continue;
+    const Vector<> alpha = alpha_.col(i + 1);
+    const Array<> denom = exponents_.col(i + 1).replicate(1, n);
+    const Array<> alpha_outer = alpha * alpha.transpose();
+    const Array<> denom_outer = (denom + denom.transpose() + 1).max(1.0);
+    H += time_scales(i) * weights(i) * alpha_outer / denom_outer;
+  }
+  return H;
+}
+
+template<typename Solver>
+bool Polynomial<Solver>::solve() {
+  if (A_.rows() < 2) return false;  // Cant solve without constraints.
+
+  H_ = createH(weights_);
+  return solve(H_, A_, b_);
+}
+
+template<typename Solver>
+bool Polynomial<Solver>::solve(const Matrix<>& H, const Matrix<>& A,
+                               const Vector<>& b) {
+  if (H.cols() != size()) return false;
+  if (A.rows() != b.size() || A.cols() != size()) return false;
+
+  const int n = H.rows();
+  const int m = A.rows();
+
+  const Matrix<> S =
+    (Matrix<>(n + m, n + m) << 2.0 * H, A.transpose(), A, Matrix<>::Zero(m, m))
+      .finished();
+  const Vector<> s = (Vector<>(m + n) << Vector<>::Zero(n), b).finished();
+
+  Solver solver(S);
+  const Vector<> x = solver.solve(s);
+  c_ = x.head(n);
+
+  return true;
+}
+
+template<>
+bool Polynomial<void>::solve() {
+  if (!b_.allFinite()) return false;
+
+  // Hardcoded Matrix inversion for the end state constraints.
+  // This is the inverse of the right half of the coeffcient matrix
+  // [ 1  1  1  1  1  1 ]
+  // [ 0  1  1  3  4  5 ]
+  // [ 0  0  2  6  12 20]
+  // also known as alpha within this implementation.
+  static const Matrix<3, 3> A_inv =
+    (Matrix<3, 3>() << 10, -4, 0.5, -15, 7, -1, 6, -3, 0.5).finished();
+
+  const ArrayVector<3> t_vec = ArrayVector<3>::Constant(1.0 / t_scale_)
+                                 .pow(ArrayVector<3>::LinSpaced(0, 2));
+
+  c_.head<3>() = t_vec * b_.array().head<3>();
+  c_(2) *= 0.5;
+  c_.tail<3>() = t_vec * b_.array().tail<3>();
+
+  const Matrix<3, 3> alpha_012 = alpha_.topLeftCorner(3, 3).transpose();
+  const Vector<3> b_delta = c_.tail<3>() - alpha_012 * c_.head<3>();
+  c_.tail<3>() = A_inv * b_delta;
+
+  return true;
+}
+
+
+template<typename Solver>
+bool Polynomial<Solver>::eval(const Scalar time, Ref<Vector<>> state) const {
+  const int n = state.rows();
+  const Vector<> time_scales = ArrayVector<>::Constant(n, t_scale_)
+                                 .pow(ArrayVector<>::LinSpaced(n, 0, n - 1));
+  state = time_scales.asDiagonal() * polyMatrixFromTime(time, n) * c_;
+
+  return true;
+}
+
+template<typename Solver>
+Scalar Polynomial<Solver>::operator()(const Scalar time,
+                                      const int order) const {
+  return std::pow(t_scale_, order) * c_.transpose() *
+         (tauVectorFromTime(time, order).array() * alpha_.col(order)).matrix();
+}
+
+template class Polynomial<Eigen::HouseholderQR<Matrix<>>>;
+template class Polynomial<void>;
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/trajectory_reference/polynomial_trajectory.cpp b/aerial_robot_control/src/trajectory/trajectory_reference/polynomial_trajectory.cpp
new file mode 100644
index 000000000..2b1112ef3
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/trajectory_reference/polynomial_trajectory.cpp
@@ -0,0 +1,348 @@
+#include "aerial_robot_control/trajectory/trajectory_reference/polynomial_trajectory.hpp"
+
+#include "aerial_robot_control/trajectory/math/gravity.hpp"
+
+
+namespace agi {
+
+template<class PolyType>
+PolynomialTrajectory<PolyType>::PolynomialTrajectory(
+  const QuadState& start_state, const QuadState& end_state,
+  const Vector<>& weights, const int order, const int continuity,
+  const std::string& name)
+  : ReferenceBase(start_state, end_state.t - start_state.t, name),
+    end_state_(end_state),
+    x_(order, weights, continuity),
+    y_(order, weights, continuity),
+    z_(order, weights, continuity),
+    yaw_(5, Vector<3>(0, 0, 1)),
+    states_({start_state, end_state}) {
+  yaw_last_ = start_state_.getYaw();
+
+  x_.scale(start_state_.t, duration_);
+  y_.scale(start_state_.t, duration_);
+  z_.scale(start_state_.t, duration_);
+  yaw_.scale(start_state_.t, duration_);
+
+  addStateConstraint(start_state_);
+  addStateConstraint(end_state_);
+
+  x_.solve();
+  y_.solve();
+  z_.solve();
+  yaw_.solve();
+}
+
+template<>
+PolynomialTrajectory<ClosedFormMinJerkAxis>::PolynomialTrajectory(
+  const QuadState& start_state, const QuadState& end_state,
+  const Vector<>& weights, const int order, const int continuity,
+  const std::string& name)
+  : ReferenceBase(start_state, end_state.t - start_state.t, name),
+    end_state_(end_state) {
+  yaw_last_ = start_state_.getYaw();
+
+  x_.scale(start_state_.t, duration_);
+  y_.scale(start_state_.t, duration_);
+  z_.scale(start_state_.t, duration_);
+  yaw_.scale(start_state_.t, duration_);
+
+  addStateConstraint(start_state_);
+  addStateConstraint(end_state_);
+
+  x_.solve();
+  y_.solve();
+  z_.solve();
+  yaw_.solve();
+}
+
+template<class PolyType>
+PolynomialTrajectory<PolyType>::PolynomialTrajectory(
+  const std::vector<QuadState>& states, const Vector<>& weights,
+  const int order, const int continuity, const std::string& name)
+  : ReferenceBase(states.front(), states.back().t - states.front().t, name),
+    end_state_(states.back()),
+    x_(order, weights, continuity),
+    y_(order, weights, continuity),
+    z_(order, weights, continuity),
+    yaw_(5, Vector<3>(0, 0, 1)),
+    states_(states) {
+  yaw_last_ = start_state_.getYaw();
+
+  x_.scale(start_state_.t, duration_);
+  y_.scale(start_state_.t, duration_);
+  z_.scale(start_state_.t, duration_);
+  yaw_.scale(start_state_.t, duration_);
+
+  addStateConstraint(start_state_);
+  addStateConstraint(end_state_);
+
+  for (size_t i = 1; i < states_.size() - 1; i++) {
+    addStateConstraint(states_.at(i), 0); // only consider the position constraints for the intermediate points
+  }
+
+
+  if (!x_.solve()) std::cout << "Could not solve x-axis!" << std::endl;
+  if (!y_.solve()) std::cout << "Could not solve y-axis!" << std::endl;
+  if (!z_.solve()) std::cout << "Could not solve z-axis!" << std::endl;
+  if (!yaw_.solve()) std::cout << "Could not solve yaw!" << std::endl;
+
+  start_state_ = getState(start_state_.t);
+  if (!start_state_.valid())
+    std::cout << "Could not fill start state!" << std::endl;
+
+  end_state_ = getState(end_state_.t);
+  if (!end_state_.valid())
+    std::cout << "Could not fill end state!" << std::endl;
+}
+
+template<class PolyType>
+bool PolynomialTrajectory<PolyType>::addStateConstraint(const QuadState& state, int ord) {
+  if (!std::isfinite(state.t)) return false;
+  if (ord > 4) return false;
+
+  if (ord < 0)  ord = 4;
+
+  Matrix<> constraints = Matrix<>::Constant(3, ord+1, NAN);
+
+  constraints.col(0) = state.p;
+  if (ord > 0) constraints.col(1) = state.v;
+  if (ord > 1) constraints.col(2) = state.a;
+  if (ord > 2) constraints.col(3) = state.j;
+  if (ord > 3) constraints.col(4) = state.s;
+
+  x_.addConstraint(state.t, constraints.row(0).transpose());
+  y_.addConstraint(state.t, constraints.row(1).transpose());
+  z_.addConstraint(state.t, constraints.row(2).transpose());
+
+  // ToDo: Yaw relative to initial yaw.
+  const Scalar yaw_angle = state.getYaw();
+  if (std::isfinite(yaw_angle))
+    yaw_.addConstraint(state.t, Vector<3>(yaw_angle, state.w.z(), 0));
+
+  return true;
+}
+
+template<class PolyType>
+Setpoint PolynomialTrajectory<PolyType>::getSetpoint(const QuadState& state,
+                                                     const Scalar time) {
+  const Scalar t = std::isfinite(time) ? std::max(state.t, time) : state.t;
+  Setpoint setpoint;
+  if (!std::isfinite(t)) return setpoint;
+
+  setpoint.state = getState(t);
+  setpoint.input.t = time;
+  setpoint.input.collective_thrust = (setpoint.state.a - GVEC).norm();
+  setpoint.input.omega = setpoint.state.w;
+
+  return setpoint;
+}
+
+template<class PolyType>
+QuadState PolynomialTrajectory<PolyType>::getState(const Scalar time) const {
+  QuadState state;
+  if (!valid()) return state;
+
+  const Scalar t = std::clamp(time, start_state_.t, end_state_.t);
+
+  Matrix<> x = Matrix<>::Zero(5, 3);
+  Vector<> yaw = Vector<>::Zero(3);
+
+  x_.eval(t, x.col(0));
+  y_.eval(t, x.col(1));
+  z_.eval(t, x.col(2));
+
+  state.setZero();
+  state.t = t;
+  state.p = x.row(0).transpose();
+  state.v = x.row(1).transpose();
+  state.a = x.row(2).transpose();
+  state.j = x.row(3).transpose();
+  state.s = x.row(4).transpose();
+
+  const Vector<3> thrust_vec = state.a - GVEC;
+  const Scalar thrust = thrust_vec.norm();
+  const Quaternion q_pitch_roll =
+    thrust > 1e-3 ? Quaternion::FromTwoVectors(Vector<3>::UnitZ(), thrust_vec)
+                  : q_pitch_roll_last_;
+  q_pitch_roll_last_ = q_pitch_roll;
+
+  if (forward_heading_) {
+    const Vector<3> v_body = q_pitch_roll.inverse() * state.v;
+    if ((v_body.x() * v_body.x() + v_body.y() * v_body.y()) < 1e-6) {
+      yaw(0) = std::atan2(v_body.y(), v_body.x());
+    } else {
+      yaw(0) = yaw_last_;
+    }
+  } else {
+    yaw_.eval(t, yaw);
+  }
+
+  yaw_last_ = yaw(0);
+
+  const Quaternion q_heading =
+    Quaternion(Eigen::AngleAxis<Scalar>(yaw(0), Vector<3>::UnitZ()));
+  const Quaternion q_att = q_pitch_roll * q_heading;
+  state.q(q_att.normalized());
+
+  // compute bodyrates
+  const Vector<3> body_jerk = q_att.inverse() * state.j;
+  state.w = Vector<3>(-1.0 / thrust * body_jerk[1], 1.0 / thrust * body_jerk[0],
+                      yaw(1));
+
+  // compute angular acceleration
+  state.tau = Vector<3>(0, 0, yaw(2));
+  return state;
+}
+
+template<class PolyType>
+Setpoint PolynomialTrajectory<PolyType>::getStartSetpoint() {
+  return getSetpoint(start_state_);
+}
+
+template<class PolyType>
+Setpoint PolynomialTrajectory<PolyType>::getEndSetpoint() {
+  return getSetpoint(end_state_);
+}
+
+template<class PolyType>
+bool PolynomialTrajectory<PolyType>::solved() const {
+  if (!x_.solved()) std::cout << "Could not solve x-axis!" << std::endl;
+  if (!y_.solved()) std::cout << "Could not solve y-axis!" << std::endl;
+  if (!z_.solved()) std::cout << "Could not solve z-axis!" << std::endl;
+  if (!yaw_.solved()) std::cout << "Could not solve yaw!" << std::endl;
+  return x_.solved() && y_.solved() && z_.solved() && yaw_.solved();
+}
+
+template<class PolyType>
+bool PolynomialTrajectory<PolyType>::valid() const {
+  return x_.solved() && y_.solved() && z_.solved() && yaw_.solved();
+}
+
+template<class PolyType>
+Vector<> PolynomialTrajectory<PolyType>::evalTranslation(
+  const Scalar time, const int order) const {
+  return Vector<3>(x_(time, order), y_(time, order), z_(time, order));
+}
+
+template<class PolyType>
+void PolynomialTrajectory<PolyType>::scale(const Scalar start_time,
+                                           const Scalar duration) {
+  if (std::isfinite(start_time)) {
+    start_state_.t = start_time;
+    end_state_.t = start_time + duration_;
+  }
+
+  if (std::isfinite(duration)) {
+    duration_ = duration;
+    end_state_.t = start_state_.t + duration_;
+  }
+
+  x_.scale(start_state_.t, duration_);
+  y_.scale(start_state_.t, duration_);
+  z_.scale(start_state_.t, duration_);
+  yaw_.scale(start_state_.t, duration_);
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::scaleToLimits(const Quadrotor& quad,
+                                                     const int iterations,
+                                                     const Scalar tolerance) {
+  return scaleToLimits(quad.collective_thrust_max() / quad.m_, iterations,
+                       tolerance);
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::scaleToLimits(const Scalar acc_limit,
+                                                     const int iterations,
+                                                     const Scalar tolerance) {
+  if (!std::isfinite(acc_limit) || acc_limit <= 0.0) return duration_;
+
+  for (int k = 0; k < iterations; ++k) {
+    const Scalar t_max_acc = findTimeMaxAcc();
+    const Scalar max_acc = (evalTranslation(t_max_acc, 2) - GVEC).norm();
+    const Scalar acc_ratio = max_acc / acc_limit;
+    const Scalar acc_scale = std::pow(acc_ratio, 0.5);
+
+    // Catch zero acceleration case.
+    if (max_acc < 1e-3) break;
+
+    duration_ *= acc_scale;
+    end_state_.t = start_state_.t + duration_;
+    x_.scale(NAN, duration_);
+    y_.scale(NAN, duration_);
+    z_.scale(NAN, duration_);
+    yaw_.scale(NAN, duration_);
+    if (std::abs(acc_scale - 1.0) < tolerance) break;
+  }
+
+  return duration_;
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::findTimeMaxAcc(
+  const Scalar precision) const {
+  return findTimeMaxAcc(NAN, NAN, precision);
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::findTimeMaxAcc(
+  const Scalar t_start, const Scalar t_end, const Scalar precision) const {
+  return findTime(
+    getDuration() / 100, precision, t_start, t_end,
+    [&](const Scalar t) { return (evalTranslation(t, 2) - GVEC).norm(); },
+    [](const Scalar x, const Scalar x_max) { return x > x_max; });
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::findTimeMaxOmega(
+  const Scalar precision) const {
+  return findTimeMaxOmega(NAN, NAN, precision);
+}
+
+template<class PolyType>
+Scalar PolynomialTrajectory<PolyType>::findTimeMaxOmega(
+  const Scalar t_start, const Scalar t_end, const Scalar precision) const {
+  return findTime(
+    getDuration() / 100, precision, t_start, t_end,
+    [this](const Scalar t) {
+      const QuadState state = this->getState(t);
+      return std::max(std::abs(state.w.x()), std::abs(state.w.y()));
+    },
+    [](const Scalar x, const Scalar x_max) { return x > x_max; });
+}
+
+template<class PolyType>
+void PolynomialTrajectory<PolyType>::setForwardHeading(const bool forward) {
+  forward_heading_ = forward;
+}
+
+template<class PolyType>
+template<typename EvalFunc, typename CompFunc>
+Scalar PolynomialTrajectory<PolyType>::findTime(
+  const Scalar dt, const Scalar dt_min, const Scalar t_start,
+  const Scalar t_end, EvalFunc eval, CompFunc comp) const {
+  const Scalar start = std::isfinite(t_start) ? t_start : getStartTime();
+  const Scalar end = std::isfinite(t_end) ? t_end : getEndTime();
+  Scalar t_max = start;
+  Scalar x_max = eval(t_max);
+
+  // Sample between bounds [t_start, t_end].
+  for (Scalar t = t_max + dt; t <= end; t += dt) {
+    const Scalar x = eval(t);
+    if (comp(x, x_max)) {
+      x_max = x;
+      t_max = t;
+    }
+  }
+
+  // Recursion: search deeper until dt is less or equal dt_min.
+  return dt <= dt_min ? t_max
+                      : findTime(0.1 * dt, dt_min, std::max(t_max - dt, start),
+                                 std::min(t_max + dt, end), eval, comp);
+}
+
+template class PolynomialTrajectory<Polynomial<>>;
+template class PolynomialTrajectory<ClosedFormMinJerkAxis>;
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/trajectory_reference/sampled_trajectory.cpp b/aerial_robot_control/src/trajectory/trajectory_reference/sampled_trajectory.cpp
new file mode 100644
index 000000000..93c7fb9ff
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/trajectory_reference/sampled_trajectory.cpp
@@ -0,0 +1,75 @@
+#include "aerial_robot_control/trajectory/trajectory_reference/sampled_trajectory.hpp"
+
+namespace agi {
+
+SampledTrajectory::SampledTrajectory(const SetpointVector& setpoints)
+  : ReferenceBase(setpoints.front().state,
+                  (setpoints.back().state.t - setpoints.front().state.t),
+                  "Sampled Trajectory") {
+  setpoints_ = setpoints;
+}
+
+Setpoint SampledTrajectory::getSetpoint(const QuadState& state,
+                                        const Scalar t) {
+  // find first point with timestamp larger than query:
+  SetpointVector::const_iterator upper_setpoint =
+    std::lower_bound(setpoints_.begin(), setpoints_.end(), t,
+                     [](const Setpoint& setpoint, const Scalar t) -> bool {
+                       return setpoint.state.t <= t;
+                     });
+
+  // If query time is beyond trajectory, return last available state instead
+  if (upper_setpoint == setpoints_.end()) return setpoints_.back();
+
+  // If query time is earlier than reference, return first point
+  if (upper_setpoint == setpoints_.begin()) return setpoints_.front();
+
+  SetpointVector::const_iterator lower_setpoint = std::prev(upper_setpoint);
+
+  // interpolate between closest points in SetpointVector
+  // setpoint = (1 - a) * lower_setpoint + a * upper_setpoint
+  const double x = (t - lower_setpoint->state.t) /
+                   (upper_setpoint->state.t - lower_setpoint->state.t);
+  return interpolateSetpoints(*lower_setpoint, *upper_setpoint, x);
+}
+
+Setpoint SampledTrajectory::getStartSetpoint() { return setpoints_.front(); }
+
+Setpoint SampledTrajectory::getEndSetpoint() { return setpoints_.back(); }
+
+/// setpoint = (1 - a) * setpoint_1 + a * setpoint_2
+Setpoint SampledTrajectory::interpolateSetpoints(const Setpoint& setpoint_1,
+                                                 const Setpoint& setpoint_2,
+                                                 const Scalar x) const {
+  if (!setpoint_1.state.valid() || !setpoint_2.state.valid() ||
+      !setpoint_1.input.valid() || !setpoint_2.input.valid()) {
+    return Setpoint{};
+  }
+
+  const Scalar x_comp = 1.0 - x;
+
+  // State
+  Setpoint setpoint;
+  setpoint.state.t = x_comp * setpoint_1.state.t + x * setpoint_2.state.t;
+  setpoint.state.x = x_comp * setpoint_1.state.x + x * setpoint_2.state.x;
+  setpoint.state.q(setpoint_1.state.q().slerp(x, setpoint_2.state.q()));
+
+  // Inputs
+  setpoint.input.t = x_comp * setpoint_1.input.t + x * setpoint_2.input.t;
+  if (setpoint_1.input.isRatesThrust()) {
+    setpoint.input.collective_thrust =
+      x_comp * setpoint_1.input.collective_thrust +
+      x * setpoint_2.input.collective_thrust;
+    setpoint.input.omega =
+      x_comp * setpoint_1.input.omega + x * setpoint_2.input.omega;
+    setpoint.input.thrusts.setConstant(NAN);
+  } else {
+    setpoint.input.thrusts =
+      x_comp * setpoint_1.input.thrusts + x * setpoint_2.input.thrusts;
+    setpoint.input.collective_thrust = NAN;
+    setpoint.input.omega.setConstant(NAN);
+  }
+
+  return setpoint;
+}
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/types/command.cpp b/aerial_robot_control/src/trajectory/types/command.cpp
new file mode 100644
index 000000000..963d7468f
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/types/command.cpp
@@ -0,0 +1,61 @@
+#include "aerial_robot_control/trajectory/types/command.hpp"
+
+#include <cmath>
+
+namespace agi {
+
+Command::Command() {}
+
+Command::Command(const Scalar t, const Scalar thrust, const Vector<3>& omega)
+  : t(t), collective_thrust(thrust), omega(omega) {}
+
+Command::Command(const Scalar t, const Vector<4>& thrusts)
+  : t(t), thrusts(thrusts) {}
+
+Command::Command(const Scalar t)
+  : t(t),
+    collective_thrust(0.0),
+    omega(Vector<3>::Zero()),
+    thrusts(Vector<4>::Zero()) {}
+
+bool Command::valid() const {
+  return std::isfinite(t) &&
+         ((std::isfinite(collective_thrust) && omega.allFinite()) ||
+          thrusts.allFinite());
+}
+
+bool Command::isSingleRotorThrusts() const {
+  return std::isfinite(t) && thrusts.allFinite();
+}
+
+bool Command::isRatesThrust() const {
+  return std::isfinite(t) && std::isfinite(collective_thrust) &&
+         omega.allFinite();
+}
+
+std::ostream& operator<<(std::ostream& os, const Command& command) {
+  os.precision(3);
+  os << std::scientific;
+  os << "Command at " << command.t << "s:\n"
+     << "collective_thrust =  [" << command.collective_thrust << "]\n"
+     << "omega =  [" << command.omega.transpose() << "]\n"
+     << "thrusts =  [" << command.thrusts.transpose() << "]" << std::endl;
+  os.precision();
+  os.unsetf(std::ios::scientific);
+  return os;
+}
+
+bool Command::operator==(const Command& rhs) const {
+  if (t != rhs.t) {
+    return false;
+  }
+  if (isRatesThrust()) {
+    return (collective_thrust == rhs.collective_thrust &&
+            omega.isApprox(rhs.omega, 1e-3));
+  } else {
+    return (thrusts.isApprox(rhs.thrusts, 1e-3));
+  }
+}
+
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/types/quad_state.cpp b/aerial_robot_control/src/trajectory/types/quad_state.cpp
new file mode 100644
index 000000000..aafd78970
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/types/quad_state.cpp
@@ -0,0 +1,111 @@
+#include "aerial_robot_control/trajectory/types/quad_state.hpp"
+
+namespace agi {
+
+QuadState::QuadState() {}
+
+QuadState::QuadState(const Scalar t, const Vector<IDX::SIZE>& x) : x(x), t(t) {}
+
+QuadState::QuadState(const Scalar t, const Vector<3>& position,
+                     const Scalar yaw)
+  : x(Vector<IDX::SIZE>::Zero()), t(t) {
+  p = position;
+  q(yaw);
+}
+
+QuadState::QuadState(const QuadState& state) : x(state.x), t(state.t) {}
+
+QuadState::~QuadState() {}
+
+Quaternion QuadState::q() const {
+  return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ));
+}
+
+void QuadState::q(const Quaternion quaternion) {
+  x(IDX::ATTW) = quaternion.w();
+  x(IDX::ATTX) = quaternion.x();
+  x(IDX::ATTY) = quaternion.y();
+  x(IDX::ATTZ) = quaternion.z();
+}
+
+
+void QuadState::q(const Scalar angle, const Vector<3>& axis) {
+  const Quaternion q_aa(Eigen::AngleAxis<Scalar>(angle, axis));
+  x(IDX::ATTW) = q_aa.w();
+  x(IDX::ATTX) = q_aa.x();
+  x(IDX::ATTY) = q_aa.y();
+  x(IDX::ATTZ) = q_aa.z();
+}
+
+Matrix<3, 3> QuadState::R() const {
+  return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)).toRotationMatrix();
+}
+
+void QuadState::setZero(const bool& reset_time) {
+  if (reset_time) {
+    t = 0.0;
+  }
+  x.setZero();
+  x(ATTW) = 1.0;
+}
+
+void QuadState::linearize() { qx.normalize(); }
+
+Scalar QuadState::getYaw(const Scalar yaw) const {
+  const Vector<3> x_b = q() * Vector<3>::UnitX();
+  const Vector<3> x_proj = Vector<3>(x_b.x(), x_b.y(), 0);
+  if (x_proj.norm() < 1e-3) return yaw;
+  const Vector<3> x_proj_norm = x_proj.normalized();
+  const Vector<3> cross = Vector<3>::UnitX().cross(x_proj_norm);
+  const Scalar angle = asin(cross.z());
+  if (x_proj_norm.x() >= 0.0) return angle;
+  if (x_proj_norm.y() >= 0.0) return M_PI - angle;
+  return -M_PI - angle;
+}
+
+void QuadState::setYaw(const Scalar angle) {
+  Quaternion q_yaw;
+  q_yaw = Eigen::AngleAxis(angle, Vector<3>::UnitZ());
+  q(q_yaw);
+}
+
+bool QuadState::operator==(const QuadState& rhs) const {
+  return t == rhs.t && x.isApprox(rhs.x);
+}
+
+bool QuadState::isApprox(const QuadState& rhs, const Scalar tol) const {
+  return std::abs(t - rhs.t) < tol && x.isApprox(rhs.x, tol);
+}
+
+QuadState QuadState::getHoverState() const {
+  QuadState hover_state;
+  hover_state.setZero();
+  hover_state.t = t;
+  hover_state.p = p;
+  hover_state.q(getYaw(0.0));
+  return hover_state;
+}
+
+std::ostream& operator<<(std::ostream& os, const QuadState& state) {
+  os.precision(6);
+  os << std::scientific;
+  os << "State at " << state.t << "s:\n";
+  os.precision(3);
+  os << "p=  [" << state.p.transpose() << "]\n"
+     << "q=  [" << state.qx.transpose() << "]\n"
+     << "v=  [" << state.v.transpose() << "]\n"
+     << "w=  [" << state.w.transpose() << "]\n"
+     << "a=  [" << state.a.transpose() << "]\n"
+     << "j=  [" << state.j.transpose() << "]\n"
+     << "s=  [" << state.s.transpose() << "]\n"
+     << "tau=[" << state.tau.transpose() << "]\n"
+     << "bw= [" << state.bw.transpose() << "]\n"
+     << "ba= [" << state.ba.transpose() << "]\n"
+     << "mot=[" << state.mot.transpose() << "]\n"
+     << "dmt=[" << state.motdes.transpose() << "]" << std::endl;
+  os.precision();
+  os.unsetf(std::ios::scientific);
+  return os;
+}
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/types/quadrotor.cpp b/aerial_robot_control/src/trajectory/types/quadrotor.cpp
new file mode 100644
index 000000000..f5f2393b0
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/types/quadrotor.cpp
@@ -0,0 +1,304 @@
+#include "aerial_robot_control/trajectory/types/quadrotor.hpp"
+
+#include <cmath>
+#include <iostream>
+
+#include "aerial_robot_control/trajectory/math/math.hpp"
+
+namespace agi {
+
+Quadrotor::Quadrotor(const Scalar m, const Scalar l)
+  : m_(m),
+    t_BM_(
+      l * sqrt(0.5) *
+      (Matrix<3, 4>() << 1, -1, -1, 1, -1, 1, -1, 1, 0, 0, 0, 0).finished()),
+    J_(m_ / 12.0 * l * l *
+       Vector<3>(2.25, 2.25, 4)
+         .asDiagonal()),  // from cubic volume inertia with height=0.5 l
+    J_inv_(J_.inverse()),
+    motor_omega_min_(150.0),
+    motor_omega_max_(2000.0),
+    motor_tau_inv_(1.0 / 0.033),
+    thrust_map_(1.562522e-06, 0.0, 0.0),
+    torque_map_(1.908873e-08, 0.0, 0.0),
+    kappa_(torque_map_(0) / thrust_map_(0)),
+    thrust_min_(0.0),
+    thrust_max_(motor_omega_max_ * motor_omega_max_ * thrust_map_(0) +
+                motor_omega_max_ * thrust_map_(1) + thrust_map_(2)),
+    rotors_config_(RotorConfig::cross),
+    omega_max_(Vector<3>::Constant(6.0)),
+    aero_coeff_1_(Vector<3>::Zero()),
+    aero_coeff_3_(Vector<3>::Zero()),
+    aero_coeff_h_(0.0) {}
+
+Quadrotor::Quadrotor() : Quadrotor(1.0, 0.25) {}
+
+bool Quadrotor::dynamics(const QuadState& state,
+                         QuadState* const derivative) const {
+  if (derivative == nullptr) return false;
+  return dynamics(state.x, derivative->x);
+}
+
+bool Quadrotor::dynamics(const Ref<const Vector<QS::SIZE>> state,
+                         Ref<Vector<QS::SIZE>> derivative) const {
+  if (!state.segment<QS::DYN>(0).allFinite()) return false;
+
+  derivative.setZero();
+  const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ));
+  const Quaternion q_omega(0, omega.x(), omega.y(), omega.z());
+
+  derivative.segment<QS::NPOS>(QS::POS) = state.segment<QS::NVEL>(QS::VEL);
+  derivative.segment<QS::NATT>(QS::ATT) =
+    0.5 * Q_right(q_omega) * state.segment<QS::NATT>(QS::ATT);
+  derivative.segment<QS::NVEL>(QS::VEL) = state.segment<QS::NACC>(QS::ACC);
+  derivative.segment<QS::NOME>(QS::OME) =
+    J_inv_ * (state.segment<QS::NTAU>(QS::TAU) - omega.cross(J_ * omega));
+
+  return true;
+}
+
+bool Quadrotor::jacobian(const Ref<const Vector<QS::SIZE>> state,
+                         Ref<Matrix<QS::SIZE, QS::SIZE>> jac) const {
+  if (!state.segment<QS::DYN>(0).allFinite()) return false;
+
+  jac.setZero();
+
+  const Quaternion q(state(QS::ATTW), state(QS::ATTX), state(QS::ATTY),
+                     state(QS::ATTZ));
+  const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ));
+  const Quaternion q_omega(0, omega.x(), omega.y(), omega.z());
+
+  // Set dp/dv to identity.
+  jac.block<QS::NPOS, QS::NVEL>(QS::POS, QS::VEL) =
+    Matrix<QS::NPOS, QS::NVEL>::Identity();
+
+  // Set dq/dq.
+  jac.block<QS::NATT, QS::NATT>(QS::ATT, QS::ATT) = 0.5 * Q_right(q_omega);
+
+  // Set dq/dw.
+  jac.block<QS::NATT, QS::NOME>(QS::ATT, QS::OME) =
+    0.5 * Q_left(q).block<QS::NATT, QS::NOME>(0, 1);
+
+  // Set dv/da to identity.
+  jac.block<QS::NVEL, QS::NACC>(QS::VEL, QS::ACC) =
+    Matrix<QS::NVEL, QS::NACC>::Identity();
+
+  // Set dw/dtau to J_inv
+  jac.block<QS::NOME, QS::NTAU>(QS::OME, QS::TAU) = J_inv_;
+
+  // Set dw/dw to J_inv
+  jac.block<QS::NOME, QS::NOME>(QS::OME, QS::OME) =
+    -J_inv_ * (skew(omega) * J_ + skew(J_ * omega).transpose());
+
+  return true;
+}
+
+bool Quadrotor::jacobian(const Ref<const Vector<QS::SIZE>> state,
+                         SparseMatrix& jac) const {
+  Matrix<QS::SIZE, QS::SIZE> jac_dense;
+  const bool ret = jacobian(state, jac_dense);
+  jac = jac_dense.sparseView();
+  return ret;
+}
+
+DynamicsFunction Quadrotor::getDynamicsFunction() const {
+  return std::bind(
+    static_cast<bool (Quadrotor::*)(const Ref<const Vector<QS::SIZE>>,
+                                    Ref<Vector<QS::SIZE>>) const>(
+      &Quadrotor::dynamics),
+    this, std::placeholders::_1, std::placeholders::_2);
+}
+
+bool Quadrotor::load(const Yaml& node) {
+  m_ = node["mass"].as<Scalar>();
+
+  Vector<3> J_diag = J_.diagonal();
+  node["inertia"].getIfDefined(J_diag);
+  J_ = J_diag.asDiagonal();
+  J_inv_ = J_.inverse();
+  if (node["arm_length"].isDefined()) {
+    // Sanity check
+    if (node["rotors_config"].isDefined()) {
+      if (node["rotors_config"].as<std::string>() == "plus") {
+        throw ParameterException(
+          "Parameter \"arm_length\" cannot be used with \"+\" configuration. "
+          "Use \"t_BM\" or \"tbm_XX\" instead.");
+      }
+    }
+
+    const Scalar l = node["arm_length"].as<Scalar>();
+    t_BM_ =
+      sqrt(0.5) * l *
+      (Matrix<3, 4>() << 1, -1, -1, 1, -1, 1, -1, 1, 0, 0, 0, 0).finished();
+
+  } else if (node["t_BM"].isDefined()) {
+    node["t_BM"] >> t_BM_;
+  } else if (node["tbm_fr"].isDefined() && node["tbm_bl"].isDefined() &&
+             node["tbm_br"].isDefined() && node["tbm_fl"].isDefined()) {
+    t_BM_(0, 0) = node["tbm_fr"][0].as<Scalar>();
+    t_BM_(1, 0) = node["tbm_fr"][1].as<Scalar>();
+    t_BM_(2, 0) = node["tbm_fr"][2].as<Scalar>();
+
+    t_BM_(0, 1) = node["tbm_bl"][0].as<Scalar>();
+    t_BM_(1, 1) = node["tbm_bl"][1].as<Scalar>();
+    t_BM_(2, 1) = node["tbm_bl"][2].as<Scalar>();
+
+    t_BM_(0, 2) = node["tbm_br"][0].as<Scalar>();
+    t_BM_(1, 2) = node["tbm_br"][1].as<Scalar>();
+    t_BM_(2, 2) = node["tbm_br"][2].as<Scalar>();
+
+    t_BM_(0, 3) = node["tbm_fl"][0].as<Scalar>();
+    t_BM_(1, 3) = node["tbm_fl"][1].as<Scalar>();
+    t_BM_(2, 3) = node["tbm_fl"][2].as<Scalar>();
+
+  } else {
+    return false;
+  }
+
+  motor_omega_min_ = node["motor_omega_min"].as<Scalar>();
+  motor_omega_max_ = node["motor_omega_max"].as<Scalar>();
+  motor_tau_inv_ = node["motor_tau"].as<Scalar>();
+  motor_tau_inv_ = 1.0 / motor_tau_inv_;
+
+  node["thrust_map"].getIfDefined(thrust_map_);
+  node["torque_map"].getIfDefined(torque_map_);
+  kappa_ = node["kappa"].as<Scalar>();
+  thrust_min_ = node["thrust_min"].as<Scalar>();
+  thrust_max_ = node["thrust_max"].as<Scalar>();
+
+  if (node["rotors_config"].isDefined()) {
+    if (node["rotors_config"].as<std::string>() == "cross") {
+      rotors_config_ = RotorConfig::cross;
+    } else if (node["rotors_config"].as<std::string>() == "plus") {
+      rotors_config_ = RotorConfig::plus;
+    }
+  }
+
+  node["omega_max"] >> omega_max_;
+
+  node["aero_coeff_1"].getIfDefined(aero_coeff_1_);
+  node["aero_coeff_3"].getIfDefined(aero_coeff_3_);
+  node["aero_coeff_h"].getIfDefined(aero_coeff_h_);
+
+  return valid();
+}
+
+bool Quadrotor::valid() const {
+  bool check = true;
+
+  // Hardcode a limit of 100 if someone puts the mass in grams.
+  check &= m_ > 0.0;
+  check &= m_ < 100.0;
+
+  check &= t_BM_.allFinite();
+  check &= J_.allFinite();
+  check &= J_inv_.allFinite();
+
+  check &= motor_omega_min_ >= 0.0;
+  check &= (motor_omega_max_ > motor_omega_min_);
+
+  check &= thrust_map_.allFinite();
+  check &= torque_map_.allFinite();
+  check &= kappa_ > 0.0;
+  check &= thrust_min_ >= 0.0;
+  check &= (thrust_max_ > thrust_min_);
+
+  check &= (omega_max_.array() > 0).all();
+
+  check &= (aero_coeff_1_.array() >= 0.0).all();
+  check &= (aero_coeff_3_.array() >= 0.0).all();
+  check &= aero_coeff_h_ >= 0.0;
+
+  return check;
+}
+
+Vector<4> Quadrotor::clampMotorOmega(const Vector<4>& omega) const {
+  return omega.cwiseMax(motor_omega_min_).cwiseMin(motor_omega_max_);
+}
+
+
+Vector<4> Quadrotor::clampThrust(const Vector<4> thrusts) const {
+  return thrusts.cwiseMax(thrust_min_).cwiseMin(thrust_max_);
+}
+
+
+Scalar Quadrotor::clampThrust(const Scalar thrust) const {
+  return std::clamp(thrust, thrust_min_, thrust_max_);
+}
+
+
+Scalar Quadrotor::clampCollectiveThrust(const Scalar thrust) const {
+  return std::clamp(thrust, collective_thrust_min(), collective_thrust_max());
+}
+
+
+Vector<3> Quadrotor::clampBodyrates(const Vector<3>& omega) const {
+  return omega.cwiseMax(-omega_max_).cwiseMin(omega_max_);
+}
+
+
+Vector<4> Quadrotor::motorOmegaToThrust(const Vector<4>& omega) const {
+  const Matrix<4, 3> omega_poly =
+    (Matrix<4, 3>() << omega.cwiseProduct(omega), omega, Vector<4>::Ones())
+      .finished();
+  return omega_poly * thrust_map_;
+}
+
+Vector<4> Quadrotor::motorOmegaToTorque(const Vector<4>& omega) const {
+  const Matrix<4, 3> omega_poly =
+    (Matrix<4, 3>() << omega.cwiseProduct(omega), omega, Vector<4>::Ones())
+      .finished();
+  return omega_poly * torque_map_;
+}
+
+Vector<4> Quadrotor::motorThrustToOmega(const Vector<4>& thrusts) const {
+  // midnight formula
+  const Scalar scale = 1.0 / (2.0 * thrust_map_(0));
+  const Scalar offset = -thrust_map_(1) * scale;
+
+  const Array<4, 1> root =
+    (std::pow(thrust_map_(1), 2) -
+     4.0 * thrust_map_(0) * (thrust_map_(2) - thrusts.array()))
+      .sqrt();
+
+  return offset + scale * root;
+}
+
+
+Matrix<4, 4> Quadrotor::getAllocationMatrix() const {
+  // compute column-wise cross product
+  // tau_i = t_BM_i x F_i
+  return (Matrix<4, 4>() << Vector<4>::Ones().transpose(), t_BM_.row(1),
+          -t_BM_.row(0), kappa_ * Vector<4>(-1, -1, 1, 1).transpose())
+    .finished();
+}
+
+std::ostream& operator<<(std::ostream& os, const Quadrotor& quad) {
+  os.precision(3);
+  os << std::scientific;
+  os << "Quadrotor:\n"
+     << "mass =             [" << quad.m_ << "]\n"
+     << "t_BM =             [" << quad.t_BM_.row(0) << "]\n"
+     << "                   [" << quad.t_BM_.row(1) << "]\n"
+     << "                   [" << quad.t_BM_.row(2) << "]\n"
+     << "inertia =          [" << quad.J_.row(0) << "]\n"
+     << "                   [" << quad.J_.row(1) << "]\n"
+     << "                   [" << quad.J_.row(2) << "]\n"
+     << "motor_omega_min =  [" << quad.motor_omega_min_ << "]\n"
+     << "motor_omega_max =  [" << quad.motor_omega_max_ << "]\n"
+     << "motor_tau_inv =    [" << quad.motor_tau_inv_ << "]\n"
+     << "thrust_map =       [" << quad.thrust_map_.transpose() << "]\n"
+     << "torque_map =       [" << quad.torque_map_.transpose() << "]\n"
+     << "kappa =            [" << quad.kappa_ << "]\n"
+     << "thrust_min =       [" << quad.thrust_min_ << "]\n"
+     << "thrust_max =       [" << quad.thrust_max_ << "]\n"
+     << "omega_max =        [" << quad.omega_max_.transpose() << "]\n"
+     << "aero_coeff_1 =     [" << quad.aero_coeff_1_.transpose() << "]\n"
+     << "aero_coeff_3 =     [" << quad.aero_coeff_3_.transpose() << "]"
+     << std::endl;
+  os.precision();
+  os.unsetf(std::ios::scientific);
+  return os;
+}
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/utils/logger.cpp b/aerial_robot_control/src/trajectory/utils/logger.cpp
new file mode 100644
index 000000000..04c64cf87
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/utils/logger.cpp
@@ -0,0 +1,113 @@
+#include "aerial_robot_control/trajectory/utils/logger.hpp"
+
+namespace agi {
+
+std::unordered_map<std::string, PublishLogContainer>
+  Logger::publishing_variables_;
+
+Logger::Logger(const std::string& name, const bool color)
+  : name_("Logger/" + name + "/"), colored_(color) {
+  std::cout.precision(DEFAULT_PRECISION);
+
+  // Format name
+  formatted_name_ = "[" + name + "]";
+  if (formatted_name_.size() < NAME_PADDING)
+    formatted_name_ =
+      formatted_name_ + std::string(NAME_PADDING - formatted_name_.size(), ' ');
+  else
+    formatted_name_ = formatted_name_ + " ";
+}
+
+Logger::~Logger() {}
+
+
+inline std::streamsize Logger::precision(const std::streamsize n) {
+  return std::cout.precision(n);
+}
+
+inline void Logger::scientific(const bool on) {
+  if (on)
+    std::cout << std::scientific;
+  else
+    std::cout << std::fixed;
+}
+
+void Logger::info(const char* msg, ...) const {
+  std::va_list args;
+  va_start(args, msg);
+  char buf[MAX_CHARS];
+  const int n = std::vsnprintf(buf, MAX_CHARS, msg, args);
+  va_end(args);
+  if (n < 0 || n >= MAX_CHARS)
+    std::cout << formatted_name_ << "=== Logging error ===" << std::endl;
+  if (colored_)
+    std::cout << formatted_name_ << buf << std::endl;
+  else
+    std::cout << formatted_name_ << INFO << buf << std::endl;
+}
+
+void Logger::warn(const char* msg, ...) const {
+  std::va_list args;
+  va_start(args, msg);
+  char buf[MAX_CHARS];
+  const int n = std::vsnprintf(buf, MAX_CHARS, msg, args);
+  va_end(args);
+  if (n < 0 || n >= MAX_CHARS)
+    std::cout << formatted_name_ << "=== Logging error ===" << std::endl;
+  if (colored_)
+    std::cout << YELLOW << formatted_name_ << buf << RESET << std::endl;
+  else
+    std::cout << formatted_name_ << WARN << buf << std::endl;
+}
+
+void Logger::error(const char* msg, ...) const {
+  std::va_list args;
+  va_start(args, msg);
+  char buf[MAX_CHARS];
+  const int n = std::vsnprintf(buf, MAX_CHARS, msg, args);
+  va_end(args);
+  if (n < 0 || n >= MAX_CHARS)
+    std::cout << formatted_name_ << "=== Logging error ===" << std::endl;
+  if (colored_)
+    std::cout << RED << formatted_name_ << buf << RESET << std::endl;
+  else
+    std::cout << formatted_name_ << ERROR << buf << std::endl;
+}
+
+void Logger::fatal(const char* msg, ...) const {
+  std::va_list args;
+  va_start(args, msg);
+  char buf[MAX_CHARS];
+  const int n = std::vsnprintf(buf, MAX_CHARS, msg, args);
+  va_end(args);
+  if (n < 0 || n >= MAX_CHARS)
+    std::cout << formatted_name_ << "=== Logging error ===" << std::endl;
+  if (colored_)
+    std::cout << RED << formatted_name_ << buf << RESET << std::endl;
+  else
+    std::cout << formatted_name_ << FATAL << buf << std::endl;
+  throw std::runtime_error(formatted_name_ + buf);
+}
+
+#ifdef DEBUG_LOG
+void Logger::debug(const char* msg, ...) const {
+  std::va_list args;
+  va_start(args, msg);
+  char buf[MAX_CHARS];
+  const int n = std::vsnprintf(buf, MAX_CHARS, msg, args);
+  va_end(args);
+  if (n < 0 || n >= MAX_CHARS)
+    std::cout << formatted_name_ << "=== Logging error ===" << std::endl;
+  if (colored_)
+    std::cout << formatted_name_ << buf << std::endl;
+  else
+    std::cout << formatted_name_ << DEBUGPREFIX << buf << std::endl;
+}
+
+std::ostream& Logger::debug() const { return std::cout << formatted_name_; }
+
+void Logger::debug(const std::function<void(void)>&& lambda) const { lambda(); }
+
+#endif
+
+}  // namespace agi
diff --git a/aerial_robot_control/src/trajectory/utils/timer.cpp b/aerial_robot_control/src/trajectory/utils/timer.cpp
new file mode 100644
index 000000000..c7572d21a
--- /dev/null
+++ b/aerial_robot_control/src/trajectory/utils/timer.cpp
@@ -0,0 +1,127 @@
+#include "aerial_robot_control/trajectory/utils/timer.hpp"
+
+#include <cmath>
+#include <limits>
+
+namespace agi {
+
+Timer::Timer(const std::string name, const std::string module)
+  : name_(name),
+    module_(module),
+    timing_mean_(0.0),
+    timing_last_(0.0),
+    timing_S_(0.0),
+    timing_min_(std::numeric_limits<Scalar>::max()),
+    timing_max_(0.0),
+    n_samples_(0) {}
+
+Timer::Timer(const Timer& other)
+  : name_(other.name_),
+    module_(other.module_),
+    t_start_(other.t_start_),
+    timing_mean_(other.timing_mean_),
+    timing_last_(other.timing_last_),
+    timing_S_(other.timing_S_),
+    timing_min_(other.timing_min_),
+    timing_max_(other.timing_max_),
+    n_samples_(other.n_samples_) {}
+
+void Timer::tic() { t_start_ = std::chrono::high_resolution_clock::now(); }
+
+Scalar Timer::toc() {
+  // Calculate timing.
+  const TimePoint t_end = std::chrono::high_resolution_clock::now();
+  timing_last_ = 1e-9 * std::chrono::duration_cast<std::chrono::nanoseconds>(
+                          t_end - t_start_)
+                          .count();
+  n_samples_++;
+
+  // Set timing, filter if already initialized.
+  if (timing_mean_ <= 0.0) {
+    timing_mean_ = timing_last_;
+  } else {
+    const Scalar timing_mean_prev = timing_mean_;
+    timing_mean_ =
+      timing_mean_prev + (timing_last_ - timing_mean_prev) / n_samples_;
+    timing_S_ = timing_S_ + (timing_last_ - timing_mean_prev) *
+                              (timing_last_ - timing_mean_);
+  }
+  timing_min_ = (timing_last_ < timing_min_) ? timing_last_ : timing_min_;
+  timing_max_ = (timing_last_ > timing_max_) ? timing_last_ : timing_max_;
+
+  t_start_ = t_end;
+
+  return timing_last_;
+}
+
+Scalar Timer::operator()() const { return timing_mean_; }
+
+Scalar Timer::mean() const { return timing_mean_; }
+
+Scalar Timer::last() const { return timing_last_; }
+
+Scalar Timer::min() const { return timing_min_; }
+
+Scalar Timer::max() const { return timing_max_; }
+
+Scalar Timer::std() const { return std::sqrt(timing_S_ / n_samples_); }
+
+int Timer::count() const { return n_samples_; }
+
+Scalar Timer::startTime() const {
+  return 1e-9 * std::chrono::duration_cast<std::chrono::nanoseconds>(
+                  t_start_.time_since_epoch())
+                  .count();
+}
+
+void Timer::reset() {
+  n_samples_ = 0u;
+  t_start_ = TimePoint();
+  timing_mean_ = 0.0;
+  timing_last_ = 0.0;
+  timing_S_ = 0.0;
+  timing_min_ = std::numeric_limits<Scalar>::max();
+  timing_max_ = 0.0;
+}
+
+void Timer::print() const { std::cout << *this; }
+
+std::ostream& operator<<(std::ostream& os, const Timer& timer) {
+  if (!timer.module_.empty()) os << "[" << timer.module_ << "] ";
+
+  if (timer.n_samples_ < 1) {
+    os << "Timing " << timer.name_ << " has no call yet." << std::endl;
+    return os;
+  }
+
+  const std::streamsize prec = os.precision();
+  os.precision(3);
+
+  os << "Timing " << timer.name_ << " in " << timer.n_samples_ << " calls"
+     << std::endl;
+
+  if (!timer.module_.empty()) os << "[" << timer.module_ << "] ";
+  os << "mean|std:  " << 1000 * timer.timing_mean_ << " | "
+     << 1000 * timer.timing_S_ << " ms    "
+     << "[min|max:  " << 1000 * timer.timing_min_ << " | "
+     << 1000 * timer.timing_max_ << " ms]" << std::endl;
+
+  os.precision(prec);
+  return os;
+}
+
+ScopedTimer::ScopedTimer(const std::string name, const std::string module)
+  : Timer(name, module) {
+  this->tic();
+}
+
+ScopedTimer::~ScopedTimer() {
+  this->toc();
+  this->print();
+}
+
+ScopedTicToc::ScopedTicToc(Timer& timer) : timer_(timer) { timer_.tic(); }
+
+ScopedTicToc::~ScopedTicToc() { timer_.toc(); }
+
+}  // namespace agi
diff --git a/aerial_robot_estimation/CMakeLists.txt b/aerial_robot_estimation/CMakeLists.txt
index 035607546..2762f8d31 100644
--- a/aerial_robot_estimation/CMakeLists.txt
+++ b/aerial_robot_estimation/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_estimation)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_model
diff --git a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/gps.h b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/gps.h
index 1c24d2cff..324afad5e 100644
--- a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/gps.h
+++ b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/gps.h
@@ -111,7 +111,7 @@ namespace sensor_plugin
       /* utc time */
       /* https://github.com/KumarRobotics/ublox/blob/master/ublox_gps/include/ublox_gps/mkgmtime.h */
       time_t mkgmtime(struct tm * const tmp);
-      int tmcomp(register const struct tm * const  atmp, register const struct tm * const btmp);
+      int tmcomp(const struct tm * const  atmp, const struct tm * const btmp);
     };
 };
 
diff --git a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h
index b1281487a..c9c86128b 100644
--- a/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h
+++ b/aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h
@@ -37,11 +37,14 @@
 
 #include <aerial_robot_estimation/sensor/base_plugin.h>
 #include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/TransformStamped.h>
 #include <kalman_filter/kf_pos_vel_acc_plugin.h>
 #include <nav_msgs/Odometry.h>
 #include <sensor_msgs/JointState.h>
 #include <spinal/ServoControlCmd.h>
 #include <std_msgs/Empty.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+
 
 namespace sensor_plugin
 {
@@ -85,11 +88,13 @@ namespace sensor_plugin
     int fusion_mode_;
     bool vio_mode_; // visual + inertial mode
     bool z_vel_mode_;
+    bool local_vel_mode_;
     bool outdoor_no_vel_time_sync_; // very special flag for stereo cam such as zed mini, which has tricky behavier in outdoor mode
     /* heuristic sepecial flag for fusion */
     bool outdoor_;
     bool z_no_delay_;
 
+
     /* servo */
     std::string joint_name_;
     bool servo_auto_change_flag_;
@@ -109,6 +114,8 @@ namespace sensor_plugin
     double reference_timestamp_;
     aerial_robot_msgs::States vo_state_;
 
+    tf2_ros::StaticTransformBroadcaster static_broadcaster_; // publish the transfrom between the work and vo frame
+
     void rosParamInit();
     void servoControl(const ros::TimerEvent & e);
     void estimateProcess();
diff --git a/aerial_robot_estimation/src/sensor/gps.cpp b/aerial_robot_estimation/src/sensor/gps.cpp
index 6ab63fc2d..eb365cc40 100644
--- a/aerial_robot_estimation/src/sensor/gps.cpp
+++ b/aerial_robot_estimation/src/sensor/gps.cpp
@@ -482,9 +482,9 @@ namespace sensor_plugin
 
   time_t Gps::mkgmtime(struct tm * const tmp)
   {
-    register int            dir;
-    register int            bits;
-    register int            saved_seconds;
+    int            dir;
+    int            bits;
+    int            saved_seconds;
     time_t              t;
     struct tm           yourtm, *mytm;
 
@@ -531,9 +531,9 @@ namespace sensor_plugin
     return t;
   }
 
-  int Gps::tmcomp(register const struct tm * const  atmp, register const struct tm * const btmp)
+  int Gps::tmcomp(const struct tm * const  atmp, const struct tm * const btmp)
   {
-    register int    result;
+    int    result;
 
     if ((result = (atmp->tm_year - btmp->tm_year)) == 0 &&
         (result = (atmp->tm_mon - btmp->tm_mon)) == 0 &&
diff --git a/aerial_robot_estimation/src/sensor/imu.cpp b/aerial_robot_estimation/src/sensor/imu.cpp
index 9836c2da2..42cdf9e80 100644
--- a/aerial_robot_estimation/src/sensor/imu.cpp
+++ b/aerial_robot_estimation/src/sensor/imu.cpp
@@ -389,29 +389,20 @@ namespace sensor_plugin
 
         /* publish state date */
         state_.header.stamp = imu_stamp_;
-        tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
-        tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
-        state_.states[0].state[0].x = pos.x();
-        state_.states[1].state[0].x = pos.y();
-        state_.states[2].state[0].x = pos.z();
-        state_.states[0].state[0].y = vel.x();
-        state_.states[1].state[0].y = vel.y();
-        state_.states[2].state[0].y = vel.z();
-        state_.states[0].state[0].z = acc_w_.x();
-        state_.states[1].state[0].z = acc_w_.y();
-        state_.states[2].state[0].z = acc_w_.z();
-        pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE);
-        vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE);
-        state_.states[0].state[1].x = pos.x();
-        state_.states[1].state[1].x = pos.y();
-        state_.states[2].state[1].x = pos.z();
-        state_.states[0].state[1].y = vel.x();
-        state_.states[1].state[1].y = vel.y();
-        state_.states[2].state[1].y = vel.z();
-        state_.states[0].state[1].z = acc_w_.x();
-        state_.states[1].state[1].z = acc_w_.y();
-        state_.states[2].state[1].z = acc_w_.z();
-
+        for (int i = 0; i < 2; i++)
+          {
+            tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, i);
+            tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, i);
+            state_.states[0].state[i].x = pos.x();
+            state_.states[1].state[i].x = pos.y();
+            state_.states[2].state[i].x = pos.z();
+            state_.states[0].state[i].y = vel.x();
+            state_.states[1].state[i].y = vel.y();
+            state_.states[2].state[i].y = vel.z();
+            state_.states[0].state[i].z = acc_w_.x();
+            state_.states[1].state[i].z = acc_w_.y();
+            state_.states[2].state[i].z = acc_w_.z();
+          }
         state_pub_.publish(state_);
       }
     prev_time = imu_stamp_;
diff --git a/aerial_robot_estimation/src/sensor/mocap.cpp b/aerial_robot_estimation/src/sensor/mocap.cpp
index 33c728608..7098045e4 100644
--- a/aerial_robot_estimation/src/sensor/mocap.cpp
+++ b/aerial_robot_estimation/src/sensor/mocap.cpp
@@ -80,7 +80,7 @@ namespace sensor_plugin
 
       mocap_sub_ = nh_.subscribe(topic_name, 1, &Mocap::poseCallback, this, hint); // buffer size 1: only need the latest value.
       nhp_.param("ground_truth_sub_name", topic_name, std::string("ground_truth"));
-      ground_truth_sub_ = nh_.subscribe(topic_name, 1, &Mocap::groundTruthCallback, this);
+      ground_truth_sub_ = nh_.subscribe(topic_name, 1, &Mocap::groundTruthCallback, this, ros::TransportHints().tcpNoDelay());
     }
 
     ~Mocap() {}
diff --git a/aerial_robot_estimation/src/sensor/vo.cpp b/aerial_robot_estimation/src/sensor/vo.cpp
index cfb1b7d40..3e156dc37 100644
--- a/aerial_robot_estimation/src/sensor/vo.cpp
+++ b/aerial_robot_estimation/src/sensor/vo.cpp
@@ -80,6 +80,7 @@ namespace sensor_plugin
     if(time_sync_) queuse_size = 10;
     vo_sub_ = nh_.subscribe(topic_name, queuse_size, &VisualOdometry::voCallback, this);
 
+
     /* servo control timer */
     if(variable_sensor_tf_flag_)
       {
@@ -92,6 +93,8 @@ namespace sensor_plugin
 
         servo_control_timer_ = indexed_nhp_.createTimer(ros::Duration(servo_control_rate_), &VisualOdometry::servoControl,this); // 10 Hz
       }
+
+    prev_timestamp_ = 0;
   }
 
   void VisualOdometry::voCallback(const nav_msgs::Odometry::ConstPtr & vo_msg)
@@ -238,33 +241,43 @@ namespace sensor_plugin
               }
           }
 
-        /* step1: set the init offset from world to the baselink of UAV from egomotion estimation (e.g. yaw) */
-        /** ^{w}H_{b} **/
-        world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0]));
+        /** step1: ^{w}H_{b'}, b': level frame of b **/
+        tf::Transform w_bdash_f(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0]));
 
-        tf::Vector3 world_offset_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
+        tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
         if(estimator_->getStateStatus(State::X_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
-          world_offset_tf_.getOrigin().setX(world_offset_pos.x());
+          w_bdash_f.getOrigin().setX(baselink_pos.x());
         if(estimator_->getStateStatus(State::Y_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
-          world_offset_tf_.getOrigin().setY(world_offset_pos.y());
+          w_bdash_f.getOrigin().setY(baselink_pos.y());
         if(estimator_->getStateStatus(State::Z_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
-          world_offset_tf_.getOrigin().setZ(world_offset_pos.z());
+          w_bdash_f.getOrigin().setZ(baselink_pos.z());
 
-        /* set the init offset from world to the baselink of UAV if we know the ground truth */
+        /* set the offset if we know the ground truth */
         if(estimator_->getStateStatus(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH))
           {
-            world_offset_tf_.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH));
-            world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0]));
-
-            double y, p, r; world_offset_tf_.getBasis().getRPY(r, p, y);
+            w_bdash_f.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH));
+            w_bdash_f.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0]));
           }
 
-        /* step2: also consider the offset tf from baselink to sensor */
-        /** ^{w}H_{b} * ^{b}H_{vo} * ^{vo}H_{w_vo} = ^{w}H_{w_vo} **/
-        world_offset_tf_ *= (sensor_tf_ * raw_sensor_tf.inverse());
+        /** step2: ^{vo}H_{b'} **/
+        tf::Transform vo_bdash_f = raw_sensor_tf * sensor_tf_.inverse(); // ^{vo}H_{b}
+        double r,p,y;
+        vo_bdash_f.getBasis().getRPY(r,p,y);
+        vo_bdash_f.setRotation(tf::createQuaternionFromYaw(y)); // ^{vo}H_{b'}
+
+        /** step3: ^{w}H_{vo} = ^{w}H_{b'} * ^{b'}H_{vo} **/
+        world_offset_tf_ = w_bdash_f * vo_bdash_f.inverse();
+
+        /* publish the offset tf if necessary */
+        geometry_msgs::TransformStamped static_transformStamped;
+        static_transformStamped.header.stamp = vo_msg->header.stamp;
+        static_transformStamped.header.frame_id = "world";
+        static_transformStamped.child_frame_id = vo_msg->header.frame_id;
+        tf::transformTFToMsg(world_offset_tf_, static_transformStamped.transform);
+        static_broadcaster_.sendTransform(static_transformStamped);
+
+        tf::Vector3 init_pos = w_bdash_f.getOrigin();
 
-        //double y, p, r; raw_sensor_tf.getBasis().getRPY(r, p, y);
-        tf::Vector3 init_pos = (world_offset_tf_ * raw_sensor_tf * sensor_tf_.inverse()).getOrigin();
 
         for(auto& fuser : estimator_->getFuser(aerial_robot_estimation::EGOMOTION_ESTIMATE))
           {
@@ -353,8 +366,8 @@ namespace sensor_plugin
     tf::quaternionMsgToTF(vo_msg->pose.pose.orientation, raw_q);
 
     // velocity:
-    tf::Vector3 raw_local_vel;
-    tf::vector3MsgToTF(vo_msg->twist.twist.linear, raw_local_vel);
+    tf::Vector3 raw_vel;
+    tf::vector3MsgToTF(vo_msg->twist.twist.linear, raw_vel);
     /* get the latest orientation and omega */
     baselink_r = estimator_->getOrientation(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
     baselink_omega = estimator_->getAngularVel(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
@@ -365,11 +378,11 @@ namespace sensor_plugin
         // int mode = estimator_->getStateStatus(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)?aerial_robot_estimation::GROUND_TRUTH:aerial_robot_estimation::EGOMOTION_ESTIMATE;
         int mode = aerial_robot_estimation::EGOMOTION_ESTIMATE;
 
-        if (raw_local_vel == tf::Vector3(0.0,0.0,0.0))
+        if (raw_vel == tf::Vector3(0.0,0.0,0.0))
           {
             /* the odometry message does not contain velocity information, we have to calulcate by ourselves. */
             tf::Transform delta_tf = prev_sensor_tf.inverse() * raw_sensor_tf;
-            raw_local_vel = delta_tf.getOrigin() / (curr_timestamp_ - prev_timestamp_);
+            raw_vel = delta_tf.getOrigin() / (curr_timestamp_ - prev_timestamp_);
 
             reference_timestamp_ = (curr_timestamp_ + prev_timestamp_) / 2;
             estimator_->findRotOmega(reference_timestamp_, mode, baselink_r, baselink_omega);
@@ -384,7 +397,16 @@ namespace sensor_plugin
           }
       }
 
-    raw_global_vel_ = baselink_r * ( sensor_tf_.getBasis() * raw_local_vel - baselink_omega.cross(sensor_tf_.getOrigin()));
+    raw_global_vel_ = world_offset_tf_.getBasis() * raw_vel;
+    if (local_vel_mode_)
+      {
+        // if the velocity is described in local frame (i.e., the sensor frame),
+        // we need to convert to global one
+        raw_global_vel_ = baselink_r * sensor_tf_.getBasis() * raw_vel;
+      }
+    // consider the offset between baselink and sensor frames
+    raw_global_vel_ -= baselink_r * baselink_omega.cross(sensor_tf_.getOrigin());
+
 
     if(debug_verbose_)
       {
@@ -600,6 +622,7 @@ namespace sensor_plugin
   {
     getParam<int>("fusion_mode", fusion_mode_, (int)ONLY_POS_MODE);
     getParam<bool>("vio_mode", vio_mode_, false);
+    getParam<bool>("local_vel_mode", local_vel_mode_, true);
     getParam<bool>("z_vel_mode", z_vel_mode_, false);
     getParam<bool>("z_no_delay", z_no_delay_, false);
     getParam<bool>("outdoor_no_vel_time_sync", outdoor_no_vel_time_sync_, false);
diff --git a/aerial_robot_kinetic.rosinstall b/aerial_robot_kinetic.rosinstall
index efc5f0e79..fc7b02212 100644
--- a/aerial_robot_kinetic.rosinstall
+++ b/aerial_robot_kinetic.rosinstall
@@ -2,7 +2,7 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: fb963df
+    version: b10f5bf
 
 # kalman filter
 - git:
diff --git a/aerial_robot_melodic.rosinstall b/aerial_robot_melodic.rosinstall
index 9445e1aaa..bd5dbf534 100644
--- a/aerial_robot_melodic.rosinstall
+++ b/aerial_robot_melodic.rosinstall
@@ -2,7 +2,7 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: fb963df
+    version: b10f5bf
 
 # kalman filter
 - git:
@@ -31,6 +31,20 @@
     uri: https://github.com/tongtybj/rosserial.git
     version: rosservice_server
 
+# livox ros driver
+# modification for quick build of ROS1 version
+- git:
+    local-name: livox_ros_driver2
+    uri: https://github.com/tongtybj/livox_ros_driver2.git
+    version: PR/ros1
+
+# fast lio
+# modification for fast odometry based on EKF
+- git:
+    local-name: fast_lio
+    uri: https://github.com/tongtybj/FAST_LIO
+    version: PR/odometry
+
 # realsense
 #- git:
 #    local-name: realsense-ros
diff --git a/aerial_robot_model/CMakeLists.txt b/aerial_robot_model/CMakeLists.txt
index e39d73147..43babfb41 100644
--- a/aerial_robot_model/CMakeLists.txt
+++ b/aerial_robot_model/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_model)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
diff --git a/aerial_robot_model/include/aerial_robot_model/servo_bridge.h b/aerial_robot_model/include/aerial_robot_model/servo_bridge.h
index 3ab50b5ef..bf94aa6c9 100644
--- a/aerial_robot_model/include/aerial_robot_model/servo_bridge.h
+++ b/aerial_robot_model/include/aerial_robot_model/servo_bridge.h
@@ -50,6 +50,8 @@
 #include <spinal/ServoStates.h>
 #include <spinal/ServoControlCmd.h>
 #include <spinal/ServoTorqueCmd.h>
+#include <spinal/JointProfiles.h>
+#include <spinal/UavInfo.h>
 #include <controller_manager_msgs/LoadController.h>
 #include <controller_manager_msgs/SwitchController.h>
 #include <urdf/model.h>
@@ -200,6 +202,8 @@ class ServoBridge
 
   ros::Publisher servo_states_pub_;
   ros::Publisher mujoco_control_input_pub_;
+  ros::Publisher joint_profile_pub_;
+  ros::Subscriber uav_info_sub_;
   map<string, ros::Subscriber> servo_states_subs_;
   map<string, ros::Subscriber> servo_ctrl_subs_;
   map<string, bool> no_real_state_flags_;
@@ -219,6 +223,7 @@ class ServoBridge
   void servoStatesCallback(const spinal::ServoStatesConstPtr& state_msg, const std::string& servo_group_name);
   void servoCtrlCallback(const sensor_msgs::JointStateConstPtr& joints_ctrl_msg, const std::string& servo_group_name);
   bool servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name);
+  void uavInfoCallback(const spinal::UavInfoConstPtr& uav_msg);
 
 public:
   ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp);
diff --git a/aerial_robot_model/src/servo_bridge/servo_bridge.cpp b/aerial_robot_model/src/servo_bridge/servo_bridge.cpp
index 0e7927bbe..bd3545834 100644
--- a/aerial_robot_model/src/servo_bridge/servo_bridge.cpp
+++ b/aerial_robot_model/src/servo_bridge/servo_bridge.cpp
@@ -73,12 +73,16 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_(
   mujoco_control_input_pub_ = nh_.advertise<sensor_msgs::JointState>("mujoco/ctrl_input", 1);
   /* common publisher: torque on/off command */
   servo_torque_ctrl_pubs_.insert(make_pair("common", nh_.advertise<spinal::ServoTorqueCmd>(torque_pub_topic, 1)));
+  /* common publisher: joint profiles */
+  joint_profile_pub_ = nh_.advertise<spinal::JointProfiles>("joint_profiles",1);
+  /* subscriber: uav info */
+  uav_info_sub_ = nh_.subscribe<spinal::UavInfo>("uav_info", 1, &ServoBridge::uavInfoCallback, this);
 
 
   /* get additional config for servos from ros parameters */
   XmlRpc::XmlRpcValue all_servos_params;
   nh_.getParam("servo_controller", all_servos_params);
-
+  spinal::JointProfiles joint_profiles_msg;
   for(auto servo_group_params: all_servos_params)
     {
       if (servo_group_params.second.getType() != XmlRpc::XmlRpcValue::TypeStruct)
@@ -126,7 +130,8 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_(
               double lower_limit = urdf_model.getJoint(servo_params.second["name"])->limits->lower;
 
               /* get parameters from rosparam */
-              int angle_sgn = servo_params.second.hasMember("angle_sgn")?
+              int servo_id = servo_params.second["id"]; 
+              int angle_sgn = servo_params.second.hasMember("angle_sgn")? 
                 servo_params.second["angle_sgn"]:servo_group_params.second["angle_sgn"];
               int zero_point_offset = servo_params.second.hasMember("zero_point_offset")?
                 servo_params.second["zero_point_offset"]:servo_group_params.second["zero_point_offset"];
@@ -391,3 +396,29 @@ bool ServoBridge::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_s
   return true;
 }
 
+void ServoBridge::uavInfoCallback(const spinal::UavInfoConstPtr& uav_msg)
+{
+  /* Send servo profiles to Spinal*/
+  spinal::JointProfiles joint_profiles_msg;
+  for(auto servo_group : servos_handler_){
+    for(auto servo : servo_group.second){
+      spinal::JointProfile joint_profile;
+      if(servo_group.first == "joints"){
+        joint_profile.type = spinal::JointProfile::JOINT;
+      }
+      else if(servo_group.first == "gimbals"){
+        joint_profile.type = spinal::JointProfile::GIMBAL;
+      }
+      else{
+        ROS_ERROR("Invalid servo type. Please define 'joints' or 'gimbals'.");
+        continue;
+      }
+      joint_profile.servo_id = servo->getId();
+      joint_profile.angle_sgn = servo->getAngleSgn();
+      joint_profile.angle_scale = servo->getAngleScale();
+      joint_profile.zero_point_offset = servo->getZeroPointOffset();
+      joint_profiles_msg.joints.push_back(joint_profile);
+    }
+  }
+  joint_profile_pub_.publish(joint_profiles_msg);
+}
diff --git a/aerial_robot_msgs/msg/FlightNav.msg b/aerial_robot_msgs/msg/FlightNav.msg
index 3ba0a9046..f6774938b 100644
--- a/aerial_robot_msgs/msg/FlightNav.msg
+++ b/aerial_robot_msgs/msg/FlightNav.msg
@@ -24,6 +24,16 @@ float64 target_pos_y
 float32 target_vel_y
 float32 target_acc_y
 
+uint8 roll_nav_mode
+
+float32 target_omega_x
+float32 target_roll
+
+uint8 pitch_nav_mode
+
+float32 target_omega_y
+float32 target_pitch
+
 uint8 yaw_nav_mode
 
 float32 target_omega_z
diff --git a/aerial_robot_nerve/spinal/CMakeLists.txt b/aerial_robot_nerve/spinal/CMakeLists.txt
index 821f5cd3e..8724a9ff2 100644
--- a/aerial_robot_nerve/spinal/CMakeLists.txt
+++ b/aerial_robot_nerve/spinal/CMakeLists.txt
@@ -43,6 +43,8 @@ add_message_files(
   FlightConfigCmd.msg
   Vector3Int16.msg
   TorqueAllocationMatrixInv.msg
+  JointProfile.msg
+  JointProfiles.msg
   )
 
 add_service_files(
@@ -52,6 +54,7 @@ add_service_files(
   SetAttitudeGains.srv
   ImuCalib.srv
   MagDeclination.srv
+  SetDirectServoConfig.srv
 )
 
 generate_messages(
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h
index 38b97f29d..e6eb67c1a 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/ethernetif.h
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h
index b3b4cfbbe..f050f5bba 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwip.h
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h
index 0872507f2..237c87efd 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Inc/lwipopts.h
@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
index a83aeedc7..c8520e279 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.cproject
@@ -25,7 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1560105099" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.451674053" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1123785686" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.785140283" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.1808345384" name="Toolchain" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32.9-2020-q2-update" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1732425603" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.530361035" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -209,7 +209,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.619623993" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.579314840" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1946193872" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../../Drivers/BSP/Components/lan8742 ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.15398046" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32H743VITx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/LwIP/src/include/lwip | ../../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../../Drivers/BSP/Components/lan8742 | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Middlewares/Third_Party/LwIP/system/arch | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../../Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Middlewares/Third_Party/LwIP/system | ../../Middlewares/Third_Party/LwIP/src/include | ../../Middlewares/Third_Party/LwIP/src/include/netif | ../../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  ||  ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VITX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.2052134197" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/spinal}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.843691260" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1567965632" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project
index 544127d9b..b9117635b 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/.project
@@ -67,6 +67,11 @@
 			<type>1</type>
 			<locationURI>PARENT-1-PROJECT_LOC/Src/lwip.c</locationURI>
 		</link>
+		<link>
+			<name>Application/User/main.c</name>
+			<type>1</type>
+			<locationURI>PARENT-1-PROJECT_LOC/Src/main.c</locationURI>
+		</link>
 		<link>
 			<name>Application/User/main.cpp</name>
 			<type>1</type>
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c
index 42f76d95c..3e2b3fb50 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/ethernetif.c
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c
index 003de1144..00607cf02 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/lwip.c
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
+  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under Ultimate Liberty license
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
index a9a6a4fc2..95d9293b4 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -43,6 +43,8 @@
 
 #include "battery_status/battery_status.h"
 
+#include "servo/servo.h"
+
 #include "state_estimate/state_estimate.h"
 #include "flight_control/flight_control.h"
 
@@ -89,6 +91,7 @@ osThreadId idleTaskHandle;
 osThreadId rosPublishHandle;
 osThreadId voltageHandle;
 osThreadId canRxHandle;
+osThreadId servoTaskHandle;
 osTimerId coreTaskTimerHandle;
 osMutexId rosPubMutexHandle;
 osMutexId flightControlMutexHandle;
@@ -105,6 +108,8 @@ Baro baro_;
 GPS gps_;
 BatteryStatus battery_status_;
 
+/* servo instance */
+DirectServo servo_;
 
 StateEstimate estimator_;
 FlightControl controller_;
@@ -131,6 +136,7 @@ void idleTaskFunc(void const * argument);
 void rosPublishTask(void const * argument);
 void voltageTask(void const * argument);
 void canRxTask(void const * argument);
+void servoTaskCallback(void const * argument);
 void coreTaskEvokeCb(void const * argument);
 
 /* USER CODE BEGIN PFP */
@@ -229,17 +235,28 @@ int main(void)
 #endif
 
   imu_.init(&hspi1, &hi2c3, &nh_, IMUCS_GPIO_Port, IMUCS_Pin, LED0_GPIO_Port, LED0_Pin);
+  IMU_ROS_CMD::init(&nh_);
+  IMU_ROS_CMD::addImu(&imu_);
   baro_.init(&hi2c1, &nh_, BAROCS_GPIO_Port, BAROCS_Pin);
-  gps_.init(&huart3, &nh_, LED2_GPIO_Port, LED2_Pin);
   battery_status_.init(&hadc1, &nh_);
+#if GPS_FLAG  
+  gps_.init(&huart3, &nh_, LED2_GPIO_Port, LED2_Pin);
   estimator_.init(&imu_, &baro_, &gps_, &nh_);  // imu + baro + gps => att + alt + pos(xy)
-  controller_.init(&htim1, &htim4, &estimator_, &battery_status_, &nh_, &flightControlMutexHandle);
+#else 
+  estimator_.init(&imu_, &baro_, NULL, &nh_);
+#endif
 
   FlashMemory::read(); //IMU calib data (including IMU in neurons)
 
-#if NERVE_COMM        
+#if SERVO_FLAG
+  servo_.init(&huart3, &nh_, NULL);
+  controller_.init(&htim1, &htim4, &estimator_, &servo_, &battery_status_, &nh_, &flightControlMutexHandle);
+#elif NERVE_COMM
   Spine::init(&hfdcan1, &nh_, &estimator_, LED1_GPIO_Port, LED1_Pin);
   Spine::useRTOS(&canMsgMailHandle); // use RTOS for CAN in spianl
+  controller_.init(&htim1, &htim4, &estimator_, NULL, &battery_status_, &nh_, &flightControlMutexHandle);
+#else
+  controller_.init(&htim1, &htim4, &estimator_, NULL, &battery_status_, &nh_, &flightControlMutexHandle);
 #endif
   
   /* USER CODE END 2 */
@@ -314,6 +331,10 @@ int main(void)
   osThreadDef(canRx, canRxTask, osPriorityRealtime, 0, 256);
   canRxHandle = osThreadCreate(osThread(canRx), NULL);
 
+  /* definition and creation of servoTask */
+  osThreadDef(servoTask, servoTaskCallback, osPriorityRealtime, 0, 256);
+  servoTaskHandle = osThreadCreate(osThread(servoTask), NULL);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -904,7 +925,7 @@ static void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 19200;
+  huart3.Init.BaudRate = 1000000;
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
   huart3.Init.Parity = UART_PARITY_NONE;
@@ -1042,8 +1063,6 @@ void coreTaskFunc(void const * argument)
   nh_.initNode(dst_addr, 12345,12345);
 #endif
 
-  IMU_ROS_CMD::init(&nh_);
-  IMU_ROS_CMD::addImu(&imu_);
   imu_.gyroCalib(true, IMU::GYRO_DEFAULT_CALIB_DURATION); // re-calibrate gyroscope because of the HAL_Delay in spine init
 
   osSemaphoreWait(coreTaskSemHandle, osWaitForever);
@@ -1058,11 +1077,13 @@ void coreTaskFunc(void const * argument)
 
       imu_.update();
       baro_.update();
+#if GPS_FLAG      
       gps_.update();
+#endif      
       estimator_.update();
       controller_.update();
 
-#if NERVE_COMM      
+#if !SERVO_FLAG && NERVE_COMM
       Spine::update();
 #endif
 
@@ -1185,6 +1206,27 @@ __weak void canRxTask(void const * argument)
   /* USER CODE END canRxTask */
 }
 
+/* USER CODE BEGIN Header_servoTaskCallback */
+/**
+* @brief Function implementing the servoTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_servoTaskCallback */
+__weak void servoTaskCallback(void const * argument)
+{
+  /* USER CODE BEGIN servoTaskCallback */
+  /* Infinite loop */
+  for(;;)
+  {
+#if SERVO_FLAG
+    servo_.update();
+    osDelay(1);
+#endif
+  }
+  /* USER CODE END servoTaskCallback */
+}
+
 /* coreTaskEvokeCb function */
 void coreTaskEvokeCb(void const * argument)
 {
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c
index 7b9d2236d..41095f1bc 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/stm32h7xx_hal_msp.c
@@ -613,7 +613,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
@@ -627,7 +627,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
-    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
     hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
     {
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc
index cc192e53b..1a703b7e4 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.ioc
@@ -93,7 +93,7 @@ Dma.USART3_RX.2.Mode=DMA_CIRCULAR
 Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART3_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.USART3_RX.2.Priority=DMA_PRIORITY_HIGH
+Dma.USART3_RX.2.Priority=DMA_PRIORITY_VERY_HIGH
 Dma.USART3_RX.2.RequestNumber=1
 Dma.USART3_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
 Dma.USART3_RX.2.SignalID=NONE
@@ -123,7 +123,7 @@ FREERTOS.BinarySemaphores01=coreTaskSem,Dynamic,NULL;uartTxSem,Dynamic,NULL
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,FootprintOK,configUSE_TIMERS,configTIMER_TASK_PRIORITY,Timers01,BinarySemaphores01,Mutexes01
 FREERTOS.Mutexes01=rosPubMutex,Dynamic,NULL;flightControlMutex,Dynamic,NULL
-FREERTOS.Tasks01=coreTask,3,512,coreTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosSpinTask,0,256,rosSpinTaskFunc,Default,NULL,Dynamic,NULL,NULL;idleTask,-3,128,idleTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,Default,NULL,Dynamic,NULL,NULL;voltage,-2,256,voltageTask,Default,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=coreTask,3,512,coreTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosSpinTask,0,256,rosSpinTaskFunc,Default,NULL,Dynamic,NULL,NULL;idleTask,-3,128,idleTaskFunc,Default,NULL,Dynamic,NULL,NULL;rosPublish,-1,128,rosPublishTask,Default,NULL,Dynamic,NULL,NULL;voltage,-2,256,voltageTask,Default,NULL,Dynamic,NULL,NULL;canRx,3,256,canRxTask,As weak,NULL,Dynamic,NULL,NULL;servoTask,3,256,servoTaskCallback,As weak,NULL,Dynamic,NULL,NULL
 FREERTOS.Timers01=coreTaskTimer,coreTaskEvokeCb,osTimerPeriodic,Default,NULL,Dynamic,NULL
 FREERTOS.configTIMER_TASK_PRIORITY=6
 FREERTOS.configTOTAL_HEAP_SIZE=25600
@@ -358,9 +358,13 @@ PD14.Locked=true
 PD14.Signal=S_TIM4_CH3
 PD15.Locked=true
 PD15.Signal=S_TIM4_CH4
+PD8.GPIOParameters=GPIO_Speed
+PD8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PD8.Locked=true
 PD8.Mode=Asynchronous
 PD8.Signal=USART3_TX
+PD9.GPIOParameters=GPIO_Speed
+PD9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PD9.Mode=Asynchronous
 PD9.Signal=USART3_RX
 PE1.GPIOParameters=GPIO_Label
@@ -566,7 +570,7 @@ TIM4.Pulse-PWM\ Generation4\ CH4=10000
 USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART3.BaudRate=19200
+USART3.BaudRate=1000000
 USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
@@ -580,3 +584,4 @@ VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 VP_TIM4_VS_ClockSourceINT.Mode=Internal
 VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 board=custom
+isbadioc=false
diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.txt b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.txt
new file mode 100644
index 000000000..b63218ed4
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/spinal.txt
@@ -0,0 +1,208 @@
+Configuration	spinal
+STM32CubeMX 	6.4.0
+Date	02/29/2024
+MCU	STM32H743VITx
+
+
+
+PERIPHERALS	MODES	FUNCTIONS	PINS
+ADC1	IN15 Single-ended	ADC1_INP15	PA3
+ADC1	IN18 Single-ended	ADC1_INP18	PA4
+ADC1	Single-ended	ADC1_INP19	PA5
+DEBUG	Serial Wire	DEBUG_JTCK-SWCLK	PA14 (JTCK/SWCLK)
+DEBUG	Serial Wire	DEBUG_JTMS-SWDIO	PA13 (JTMS/SWDIO)
+ETH	RMII	ETH_CRS_DV	PA7
+ETH	RMII	ETH_MDC	PC1
+ETH	RMII	ETH_MDIO	PA2
+ETH	RMII	ETH_REF_CLK	PA1
+ETH	RMII	ETH_RXD0	PC4
+ETH	RMII	ETH_RXD1	PC5
+ETH	RMII	ETH_TXD0	PB12
+ETH	RMII	ETH_TXD1	PB13
+ETH	RMII	ETH_TX_EN	PB11
+FDCAN1	Activated	FDCAN1_RX	PA11
+FDCAN1	Activated	FDCAN1_TX	PA12
+I2C1	I2C	I2C1_SCL	PB8
+I2C1	I2C	I2C1_SDA	PB9
+I2C3	I2C	I2C3_SCL	PA8
+I2C3	I2C	I2C3_SDA	PC9
+RCC	Crystal/Ceramic Resonator	RCC_OSC_IN	PH0-OSC_IN (PH0)
+RCC	Crystal/Ceramic Resonator	RCC_OSC_OUT	PH1-OSC_OUT (PH1)
+SPI1	Full-Duplex Master	SPI1_MISO	PB4 (NJTRST)
+SPI1	Full-Duplex Master	SPI1_MOSI	PB5
+SPI1	Full-Duplex Master	SPI1_SCK	PB3 (JTDO/TRACESWO)
+SYS	TIM12	SYS_VS_tim12	VP_SYS_VS_tim12
+TIM1	Internal Clock	TIM1_VS_ClockSourceINT	VP_TIM1_VS_ClockSourceINT
+TIM1	PWM Generation CH1	TIM1_CH1	PE9
+TIM1	PWM Generation CH2	TIM1_CH2	PE11
+TIM1	PWM Generation CH3	TIM1_CH3	PE13
+TIM1	PWM Generation CH4	TIM1_CH4	PE14
+TIM4	Internal Clock	TIM4_VS_ClockSourceINT	VP_TIM4_VS_ClockSourceINT
+TIM4	PWM Generation CH1	TIM4_CH1	PD12
+TIM4	PWM Generation CH2	TIM4_CH2	PD13
+TIM4	PWM Generation CH3	TIM4_CH3	PD14
+TIM4	PWM Generation CH4	TIM4_CH4	PD15
+USART1	Asynchronous	USART1_RX	PA10
+USART1	Asynchronous	USART1_TX	PA9
+USART3	Asynchronous	USART3_RX	PD9
+USART3	Asynchronous	USART3_TX	PD8
+
+
+
+Pin Nb	PINs	FUNCTIONs	LABELs
+1	PE2	GPIO_Output	LED0
+2	PE3	GPIO_Output	LED1
+3	PE4	GPIO_Output	LED2
+12	PH0-OSC_IN (PH0)	RCC_OSC_IN	
+13	PH1-OSC_OUT (PH1)	RCC_OSC_OUT	
+16	PC1	ETH_MDC	RMII_MDC
+23	PA1	ETH_REF_CLK	RMII_REF_CLK
+24	PA2	ETH_MDIO	RMII_MDIO
+25	PA3	ADC1_INP15	
+28	PA4	ADC1_INP18	
+29	PA5	ADC1_INP19	
+31	PA7	ETH_CRS_DV	RMII_CRS_DV
+32	PC4	ETH_RXD0	RMII_RXD0
+33	PC5	ETH_RXD1	RMII_RXD1
+39	PE9	TIM1_CH1	
+41	PE11	TIM1_CH2	
+43	PE13	TIM1_CH3	
+44	PE14	TIM1_CH4	
+47	PB11	ETH_TX_EN	RMII_TX_EN
+51	PB12	ETH_TXD0	RMII_TXD0
+52	PB13	ETH_TXD1	RMII_TXD1
+55	PD8	USART3_TX	
+56	PD9	USART3_RX	
+59	PD12	TIM4_CH1	
+60	PD13	TIM4_CH2	
+61	PD14	TIM4_CH3	
+62	PD15	TIM4_CH4	
+66	PC9	I2C3_SDA	
+67	PA8	I2C3_SCL	
+68	PA9	USART1_TX	
+69	PA10	USART1_RX	
+70	PA11	FDCAN1_RX	
+71	PA12	FDCAN1_TX	
+72	PA13 (JTMS/SWDIO)	DEBUG_JTMS-SWDIO	
+76	PA14 (JTCK/SWCLK)	DEBUG_JTCK-SWCLK	
+89	PB3 (JTDO/TRACESWO)	SPI1_SCK	
+90	PB4 (NJTRST)	SPI1_MISO	
+91	PB5	SPI1_MOSI	
+92	PB6	GPIO_Output	IMUCS
+95	PB8	I2C1_SCL	
+96	PB9	I2C1_SDA	
+98	PE1	GPIO_Output	BAROCS
+PERIPHERALS	MODES	FUNCTIONS	PINS
+ADC1	IN15 Single-ended	ADC1_INP15	PA3
+ADC1	IN18 Single-ended	ADC1_INP18	PA4
+ADC1	Single-ended	ADC1_INP19	PA5
+DEBUG	Serial Wire	DEBUG_JTCK-SWCLK	PA14 (JTCK/SWCLK)
+DEBUG	Serial Wire	DEBUG_JTMS-SWDIO	PA13 (JTMS/SWDIO)
+ETH	RMII	ETH_CRS_DV	PA7
+ETH	RMII	ETH_MDC	PC1
+ETH	RMII	ETH_MDIO	PA2
+ETH	RMII	ETH_REF_CLK	PA1
+ETH	RMII	ETH_RXD0	PC4
+ETH	RMII	ETH_RXD1	PC5
+ETH	RMII	ETH_TXD0	PB12
+ETH	RMII	ETH_TXD1	PB13
+ETH	RMII	ETH_TX_EN	PB11
+FDCAN1	Activated	FDCAN1_RX	PA11
+FDCAN1	Activated	FDCAN1_TX	PA12
+I2C1	I2C	I2C1_SCL	PB8
+I2C1	I2C	I2C1_SDA	PB9
+I2C3	I2C	I2C3_SCL	PA8
+I2C3	I2C	I2C3_SDA	PC9
+RCC	Crystal/Ceramic Resonator	RCC_OSC_IN	PH0-OSC_IN (PH0)
+RCC	Crystal/Ceramic Resonator	RCC_OSC_OUT	PH1-OSC_OUT (PH1)
+SPI1	Full-Duplex Master	SPI1_MISO	PB4 (NJTRST)
+SPI1	Full-Duplex Master	SPI1_MOSI	PB5
+SPI1	Full-Duplex Master	SPI1_SCK	PB3 (JTDO/TRACESWO)
+SYS	TIM12	SYS_VS_tim12	VP_SYS_VS_tim12
+TIM1	Internal Clock	TIM1_VS_ClockSourceINT	VP_TIM1_VS_ClockSourceINT
+TIM1	PWM Generation CH1	TIM1_CH1	PE9
+TIM1	PWM Generation CH2	TIM1_CH2	PE11
+TIM1	PWM Generation CH3	TIM1_CH3	PE13
+TIM1	PWM Generation CH4	TIM1_CH4	PE14
+TIM4	Internal Clock	TIM4_VS_ClockSourceINT	VP_TIM4_VS_ClockSourceINT
+TIM4	PWM Generation CH1	TIM4_CH1	PD12
+TIM4	PWM Generation CH2	TIM4_CH2	PD13
+TIM4	PWM Generation CH3	TIM4_CH3	PD14
+TIM4	PWM Generation CH4	TIM4_CH4	PD15
+USART1	Asynchronous	USART1_RX	PA10
+USART1	Asynchronous	USART1_TX	PA9
+USART3	Asynchronous	USART3_RX	PD9
+USART3	Asynchronous	USART3_TX	PD8
+
+
+
+Pin Nb	PINs	FUNCTIONs	LABELs
+1	PE2	GPIO_Output	LED0
+2	PE3	GPIO_Output	LED1
+3	PE4	GPIO_Output	LED2
+12	PH0-OSC_IN (PH0)	RCC_OSC_IN	
+13	PH1-OSC_OUT (PH1)	RCC_OSC_OUT	
+16	PC1	ETH_MDC	RMII_MDC
+23	PA1	ETH_REF_CLK	RMII_REF_CLK
+24	PA2	ETH_MDIO	RMII_MDIO
+25	PA3	ADC1_INP15	
+28	PA4	ADC1_INP18	
+29	PA5	ADC1_INP19	
+31	PA7	ETH_CRS_DV	RMII_CRS_DV
+32	PC4	ETH_RXD0	RMII_RXD0
+33	PC5	ETH_RXD1	RMII_RXD1
+39	PE9	TIM1_CH1	
+41	PE11	TIM1_CH2	
+43	PE13	TIM1_CH3	
+44	PE14	TIM1_CH4	
+47	PB11	ETH_TX_EN	RMII_TX_EN
+51	PB12	ETH_TXD0	RMII_TXD0
+52	PB13	ETH_TXD1	RMII_TXD1
+55	PD8	USART3_TX	
+56	PD9	USART3_RX	
+59	PD12	TIM4_CH1	
+60	PD13	TIM4_CH2	
+61	PD14	TIM4_CH3	
+62	PD15	TIM4_CH4	
+66	PC9	I2C3_SDA	
+67	PA8	I2C3_SCL	
+68	PA9	USART1_TX	
+69	PA10	USART1_RX	
+70	PA11	FDCAN1_RX	
+71	PA12	FDCAN1_TX	
+72	PA13 (JTMS/SWDIO)	DEBUG_JTMS-SWDIO	
+76	PA14 (JTCK/SWCLK)	DEBUG_JTCK-SWCLK	
+89	PB3 (JTDO/TRACESWO)	SPI1_SCK	
+90	PB4 (NJTRST)	SPI1_MISO	
+91	PB5	SPI1_MOSI	
+92	PB6	GPIO_Output	IMUCS
+95	PB8	I2C1_SCL	
+96	PB9	I2C1_SDA	
+98	PE1	GPIO_Output	BAROCS
+
+
+
+SOFTWARE PROJECT
+
+Project Settings : 
+Project Name : spinal
+Project Folder : /home/junichiro/ros/jsk_aerial_robot_ws/src/jsk_aerial_robot/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7
+Toolchain / IDE : STM32CubeIDE
+Firmware Package Name and Version : STM32Cube FW_H7 V1.9.1
+
+
+Code Generation Settings : 
+STM32Cube MCU packages and embedded software packs : Copy only the necessary library files
+Generate peripheral initialization as a pair of '.c/.h' files per peripheral : Yes
+Backup previously generated files when re-generating : No
+Delete previously generated files when not re-generated : Yes
+Set all free pins as analog (to optimize the power consumption) : No
+
+
+Toolchains Settings : 
+Compiler Optimizations : 
+
+
+
+
+
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h
index 9645fd625..5e8972b9a 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h
@@ -40,6 +40,8 @@
 #define BARO_FLAG 1
 //2.1.3 GPS Sensor
 #define GPS_FLAG 0
+//2.1.3 Direct Servo Control
+#define SERVO_FLAG 1
 
 
 //2.2 State Estimate
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp
index 57b8add1f..9eacfc7d6 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.cpp
@@ -13,7 +13,7 @@
 
 #ifdef SIMULATION
 #include <sensor_msgs/JointState.h>
-AttitudeController::AttitudeController(): DELTA_T(0), prev_time_(-1), use_ground_truth_(false), sim_voltage_(0), gimbal_dof_(0) {}
+AttitudeController::AttitudeController(): DELTA_T(0), prev_time_(-1), use_ground_truth_(false), sim_voltage_(0), gimbal_dof_(0), rotor_coef_(1) {}
 
 void AttitudeController::init(ros::NodeHandle* nh, StateEstimate* estimator)
 {
@@ -52,14 +52,15 @@ AttitudeController::AttitudeController():
 {
 }
 
-void AttitudeController::init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, KondoServo* kondo_servo,BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex)
+void AttitudeController::init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, DirectServo* servo, BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex)
 {
 
   pwm_htim1_ = htim1;
   pwm_htim2_ = htim2;
   nh_ = nh;
   estimator_ = estimator;
-  kondo_servo_ = kondo_servo;
+  // kondo_servo_ = kondo_servo;
+  servo_ = servo;
   bat_ = bat;
   mutex_ = mutex;
 
@@ -371,7 +372,6 @@ void AttitudeController::update(void)
             }
         }
     }
-
   /* target thrust -> target pwm -> HAL */
   pwmsControl();
 }
@@ -863,15 +863,22 @@ void AttitudeController::pwmConversion()
   /* check saturation level 2: z control saturation */
   float max_thrust = 0;
   int max_thrust_index = 0;
-  for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++)
+  for(int i = 0; i < motor_number_ / rotor_coef_; i++)
     {
       float thrust;
-      if(gimbal_dof_){
-        thrust = ap::pythagorous2(base_thrust_term_[2*i] + roll_pitch_term_[2*i],base_thrust_term_[2*i+1] + roll_pitch_term_[2*i+1]);
-      }
-      else
+      switch(gimbal_dof_)
         {
+        case 2:
+          thrust = ap::pythagorous3(base_thrust_term_[rotor_coef_ * i] + roll_pitch_term_[rotor_coef_ *i],base_thrust_term_[rotor_coef_ * i+1] + roll_pitch_term_[rotor_coef_ * i+1], base_thrust_term_[rotor_coef_ * i+2] + roll_pitch_term_[rotor_coef_ *i+2]);
+          break;
+        case 1:
+          thrust = ap::pythagorous2(base_thrust_term_[rotor_coef_ * i] + roll_pitch_term_[rotor_coef_ *i],base_thrust_term_[rotor_coef_ * i+1] + roll_pitch_term_[rotor_coef_ * i+1]);
+          break;
+        case 0:
           thrust = base_thrust_term_[i] + roll_pitch_term_[i];
+          break;
+        default:
+          break;
         }
       if(max_thrust < thrust)
         {
@@ -879,7 +886,6 @@ void AttitudeController::pwmConversion()
           max_thrust_index = i;
         }
     }
-
   if(start_control_flag_)
     {
       float residual_term = thrust_limit - max_thrust / rotor_devider_;
@@ -897,15 +903,22 @@ void AttitudeController::pwmConversion()
               max_thrust = 0;
               float min_thrust = 10000;
               int min_thrust_index = 0;
-              for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++)
+              for(int i = 0; i < motor_number_ / (rotor_coef_); i++)
                 {
                   float thrust;
-                  if(gimbal_dof_){
-                    thrust = ap::pythagorous2(base_thrust_term_[2*i] + roll_pitch_term_[2*i],base_thrust_term_[2*i+1] + roll_pitch_term_[2*i+1]);
-                  }
-                  else
+                  switch(gimbal_dof_)
                     {
+                    case 2:
+                      thrust = ap::pythagorous3(base_thrust_term_[rotor_coef_ * i] + roll_pitch_term_[rotor_coef_ *i],base_thrust_term_[rotor_coef_ * i+1] + roll_pitch_term_[rotor_coef_ * i+1], base_thrust_term_[rotor_coef_ * i+2] + roll_pitch_term_[rotor_coef_ *i+2]);
+                      break;
+                    case 1:
+                      thrust = ap::pythagorous2(base_thrust_term_[rotor_coef_ * i] + roll_pitch_term_[rotor_coef_ *i],base_thrust_term_[rotor_coef_ * i+1] + roll_pitch_term_[rotor_coef_ * i+1]);
+                      break;
+                    case 0:
                       thrust = base_thrust_term_[i] + roll_pitch_term_[i];
+                      break;
+                    default:
+                      break;
                     }
                   if(max_thrust < thrust)
                     {
@@ -953,21 +966,47 @@ void AttitudeController::pwmConversion()
 
   /* convert to target pwm and calculate target gimbal angles */
   /* TODO: adjust not only for gimbalrotor but also for fixed rotor */
-  for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++)
+  for(int i = 0; i < motor_number_ / (rotor_coef_); i++)
     {
       if(start_control_flag_)
         {
-          if(gimbal_dof_){
-            ap::Vector3f f_i;
-            f_i.x = target_thrust_[i*2];
-            f_i.z = target_thrust_[i*2+1];
-            target_thrust_[i] = ap::pythagorous2(f_i.x,f_i.z);
-            float gimbal_candidate = atan2f(-f_i.x, f_i.z);
-            if(std::isfinite(gimbal_candidate))
+          switch(gimbal_dof_)
+            {
+            case 2:
               {
-                target_gimbal_angles_[i] =(target_gimbal_angles_[i]+ gimbal_candidate)/2;
+                ap::Vector3f f_i;
+                f_i.x = target_thrust_[i*3];
+                f_i.y = target_thrust_[i*3+1];
+                f_i.z = target_thrust_[i*3+2];
+            
+                float gimbal_candidate_roll = atan2f(-f_i.y, f_i.z);
+                float gimbal_candidate_pitch = atan2f(f_i.x, -f_i.y * sin(gimbal_candidate_roll) + f_i.z * cos(gimbal_candidate_roll));
+                target_thrust_[i] = ap::pythagorous3(f_i.x,f_i.y,f_i.z);
+
+                /* simple lpf */
+                if(std::isfinite(gimbal_candidate_roll) && std::isfinite(gimbal_candidate_pitch)){
+                  target_gimbal_angles_[2*i] =(target_gimbal_angles_[2*i]+ gimbal_candidate_roll)/2;
+                  target_gimbal_angles_[2*i+1] =(target_gimbal_angles_[2*i+1]+ gimbal_candidate_pitch)/2;
+            
+                }
+                break;
               }
-          }
+            case 1:
+              {
+                ap::Vector3f f_i;
+                f_i.x = target_thrust_[i*2];
+                f_i.z = target_thrust_[i*2+1];
+                float gimbal_candidate = atan2f(-f_i.x, f_i.z);
+                target_thrust_[i] = ap::pythagorous2(f_i.x,f_i.z);
+
+                /* simple lpf */
+                if(std::isfinite(gimbal_candidate)) target_gimbal_angles_[i] =(target_gimbal_angles_[i]+ gimbal_candidate)/2;
+
+                break;
+              }
+            default:
+              break;
+            }
 
           target_pwm_[i] = convert(target_thrust_[i]);
 
@@ -981,32 +1020,75 @@ void AttitudeController::pwmConversion()
     }
 #ifdef SIMULATION
   //TODO: directly send target gimbal angles to gazebo
-  if(gimbal_dof_){
-    sensor_msgs::JointState gimbal_control_msg;
-    gimbal_control_msg.header.stamp = ros::Time::now();
-    for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++){
-      gimbal_control_msg.position.push_back(target_gimbal_angles_[i]);
+  switch(gimbal_dof_)
+    {
+    case 2:
+      {
+        sensor_msgs::JointState gimbal_control_msg;
+        gimbal_control_msg.header.stamp = ros::Time::now();
+        for(int i = 0; i < motor_number_ / (rotor_coef_); i++){
+          gimbal_control_msg.position.push_back(target_gimbal_angles_[2*i]);
+          gimbal_control_msg.position.push_back(target_gimbal_angles_[2*i+1]);
+        }
+        gimbal_control_pub_.publish(gimbal_control_msg);    
+        break;
+      }
+    case 1:
+      {
+        sensor_msgs::JointState gimbal_control_msg;
+        gimbal_control_msg.header.stamp = ros::Time::now();
+        for(int i = 0; i < motor_number_ / (rotor_coef_); i++){
+          gimbal_control_msg.position.push_back(target_gimbal_angles_[i]);
+        }
+        gimbal_control_pub_.publish(gimbal_control_msg);
+        break;
+      }
+    default:
+      break;
     }
-    gimbal_control_pub_.publish(gimbal_control_msg);
-  }
+
 #else
-  if(gimbal_dof_){
-    std::map<uint16_t, float> gimbal_map;
-    for(int i = 0; i < motor_number_ / (gimbal_dof_ + 1); i++){
-      if(start_control_flag_)
-        {
-          gimbal_map[i+1] = target_gimbal_angles_[i];
-          int target_angle = (int)(target_gimbal_angles_[i]*10);
+  switch(gimbal_dof_)
+    {
+    case 2:
+      {
+        std::map<uint8_t, float> gimbal_map;
+        for(int i = 0; i < motor_number_ / (rotor_coef_); i++){
+          if(start_control_flag_)
+            {
+              gimbal_map[2*i] =  target_gimbal_angles_[2*i];
+              gimbal_map[2*i+1] = target_gimbal_angles_[2*i+1];
+            }
+          else
+            {
+              gimbal_map[2*i] =  0;
+              gimbal_map[2*i+1] = 0;
+            }
         }
-      else
-        {
-          // gimbal_map[i+1] = 0;
-          // int target_angle = (int)(0);          
-          gimbal_map[i+1] = 100.0;
+        if(start_control_flag_)
+          servo_->setGoalAngle(gimbal_map,ValueType::RADIAN);
+        else
+          servo_->torqueEnable(gimbal_map);
+        break;
+      }
+    case 1:
+      {
+        std::map<uint8_t, float> gimbal_map;
+        for(int i = 0; i < motor_number_ / (rotor_coef_); i++){
+          if(start_control_flag_)
+            gimbal_map[i] = target_gimbal_angles_[i];
+          else
+            gimbal_map[i] = 0;
         }
+        if(start_control_flag_)
+          servo_->setGoalAngle(gimbal_map,ValueType::RADIAN);
+        else
+          servo_->torqueEnable(gimbal_map);
+        break;
+      }
+    default:
+      break;
     }
-    kondo_servo_->setTargetPos(gimbal_map);
-  }
 #endif
   
 }
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h
index 907a495e0..e7fbaf2ba 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/attitude/attitude_control.h
@@ -33,7 +33,8 @@
 /* RTOS */
 #include "cmsis_os.h"
 /* gimbal servo*/
-#include <kondo_servo/kondo_servo.h>
+#include <kondo_servo/kondo_servo.h> //TODO: support kondo servo
+#include <servo/servo.h>
 #endif
 #include "state_estimate/state_estimate.h"
 
@@ -79,7 +80,7 @@ class AttitudeController
 #ifdef SIMULATION
   void init(ros::NodeHandle* nh, StateEstimate* estimator);
 #else
-  void init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, KondoServo* kondo_servo, BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex = NULL);
+  void init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, DirectServo* servo, BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex = NULL);
 #endif
 
   void baseInit(); // common part in both pc and board
@@ -91,6 +92,7 @@ class AttitudeController
 
   void setMotorNumber(uint16_t motor_number);
   void setGimbalDof(uint8_t gimbal_dof){gimbal_dof_ = gimbal_dof; }
+  void setRotorCoef(uint8_t rotor_coef){rotor_coef_ = rotor_coef; }
   uint16_t getGimbalDof(){return gimbal_dof_; }
   void setPwmTestMode(bool pwm_test_flag){pwm_test_flag_ = pwm_test_flag; }
   bool getIntegrateFlag(){return integrate_flag_; }
@@ -148,13 +150,16 @@ class AttitudeController
 
   BatteryStatus* bat_;
   osMutexId* mutex_;
-  KondoServo* kondo_servo_;
+  KondoServo* kondo_servo_; // TODO
+  DirectServo* servo_;
+
 #endif
 
   StateEstimate* estimator_;
   int8_t uav_model_;
   uint16_t motor_number_;
   uint8_t gimbal_dof_;
+  uint8_t rotor_coef_;
   bool start_control_flag_;
   bool pwm_test_flag_;
   bool integrate_flag_;
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h
index 54c0ec2f3..bc749d3f1 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/flight_control/flight_control.h
@@ -71,7 +71,7 @@ class FlightControl
   {
   }
 
-  void init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, KondoServo* kondo_servo, BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex = NULL)
+  void init(TIM_HandleTypeDef* htim1, TIM_HandleTypeDef* htim2, StateEstimate* estimator, DirectServo* servo, BatteryStatus* bat, ros::NodeHandle* nh, osMutexId* mutex = NULL)
   {
     nh_ = nh;
 
@@ -85,7 +85,7 @@ class FlightControl
     nh_->subscribe(gimbal_dof_sub_);
 
     estimator_ = estimator;
-    kondo_servo_ = kondo_servo;
+    servo_ = servo;
     bat_ = bat;
 
     pwm_htim1_ = htim1;
@@ -93,7 +93,7 @@ class FlightControl
 
     mutex_ = mutex;
 
-    att_controller_.init(htim1, htim2, estimator, kondo_servo, bat, nh, mutex);
+    att_controller_.init(htim1, htim2, estimator, servo, bat, nh, mutex);
     //pos_controller_.init(estimator_, &att_controller_, nh_);
 
     start_control_flag_ = false;
@@ -159,6 +159,7 @@ class FlightControl
 #ifndef SIMULATION
   StateEstimate* estimator_;
   KondoServo* kondo_servo_;
+  DirectServo* servo_;
   BatteryStatus* bat_;
   TIM_HandleTypeDef* pwm_htim1_;
   TIM_HandleTypeDef*  pwm_htim2_;
@@ -243,6 +244,7 @@ void gimbalDofCallback(const std_msgs::UInt8& gimbal_msg)
     if(gimbal_msg.data && !gimbal_set_flag_)
       {
         att_controller_.setGimbalDof(gimbal_msg.data);
+        att_controller_.setRotorCoef(gimbal_msg.data + 1);
         gimbal_set_flag_ = true;
       }
   }
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.cpp
index 0a716418d..861712cd2 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.cpp
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.cpp
@@ -9,44 +9,41 @@
 #error "Please define __cplusplus, because this is a c++ based file "
 #endif
 
-#include "sensors/encoder/mag_encoder.h"
+#include "mag_encoder.h"
 
-MagEncoder::MagEncoder():
-  angle_pub_("encoder_angle", &angle_msg_)
+MagEncoder::MagEncoder()
 {
 }
 
-void MagEncoder::init(I2C_HandleTypeDef* hi2c, ros::NodeHandle* nh)
+void MagEncoder::init(I2C_HandleTypeDef* hi2c)
 {
   hi2c_ = hi2c;
-  nh_ = nh;
-  nh_->advertise(angle_pub_);
   raw_encoder_value_ = 0;
-
-  last_time_ = HAL_GetTick() + 6000; // after 6s
+  connection_ = false;
 }
 
 void MagEncoder::update(void)
 {
-  uint32_t now_time = HAL_GetTick();
-  if(now_time >= last_time_ + UPDATE_INTERVAL)
+  uint8_t val[1];
+  val[0] = AS5600_REG_RAW_ANGLE;
+  int i2c_status = HAL_I2C_Master_Transmit(hi2c_, AS5600_I2C_ADDRESS, val, 1, 100);
+  if(i2c_status == HAL_OK)
+    {
+      uint8_t adc[2];
+      HAL_I2C_Master_Receive(hi2c_, AS5600_I2C_ADDRESS , adc, 2, 100);
+      raw_encoder_value_ = (uint16_t)(adc[0] << 8 | adc[1]);
+      int16_t value = (int16_t)raw_encoder_value_ + offset_;
+      if(value >= RESOLUTION) value_ = value - RESOLUTION;
+      else if(value < 0) value_ = value + RESOLUTION;
+      else value_ = value;
+
+      connection_ = true;
+    }
+  else
     {
-      last_time_ = now_time;
-      uint8_t val[1];
-      val[0] = AS5600_REG_RAW_ANGLE;
-      int i2c_status = HAL_I2C_Master_Transmit(hi2c_, AS5600_I2C_ADDRESS, val, 1, 100);
-      if(i2c_status == HAL_OK)
-        {
-          uint8_t adc[2];
-          HAL_I2C_Master_Receive(hi2c_, AS5600_I2C_ADDRESS , adc, 2, 100);
-          raw_encoder_value_ = (uint16_t)(adc[0] << 8 | adc[1]);
-        }
-      else
-        {
-          raw_encoder_value_ = 65535;
-        }
-      angle_msg_.data = raw_encoder_value_;
-      if(nh_->connected()) angle_pub_.publish(&angle_msg_);
+      connection_ = false;
+      raw_encoder_value_ = ERROR_VALUE;
+      value_ = ERROR_VALUE;
     }
 
 }
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.h
index 0da83620e..0a64dce25 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/encoder/mag_encoder.h
@@ -1,45 +1,44 @@
 /*
-******************************************************************************
-* File Name          : mag_encoder.h
-* Description        : Magnetic Encoder Interface
-******************************************************************************
-*/
-
-#ifndef __cplusplus
-#error "Please define __cplusplus, because this is a c++ based file "
-#endif
+ * mag_encoder.h: Magnetic Encoder Interface
+ *
+ *  Created on: 2020/07/19
+ *      Author: zhao
+ */
 
-#ifndef __MAG_ENCODER_H
-#define __MAG_ENCODER_H
+#ifndef MAG_ENCODER_H
+#define MAG_ENCODER_H
 
+// #include "stm32f4xx_hal.h"
 #include "config.h"
-#include <ros.h>
-#include <std_msgs/UInt16.h>
-
 
 class MagEncoder
 {
 public:
   MagEncoder();
   ~MagEncoder(){};
-  
+
   static const uint8_t AS5600_I2C_ADDRESS =  0x6c; // 0x36 << 1; NOTE: STM: i2c_address << 1 !!!
   static const uint8_t AS5600_REG_RAW_ANGLE =  0x0C;
-  static const uint8_t UPDATE_INTERVAL = 20; //20 -> 50Hz
+  static const uint16_t ERROR_VALUE =  65535;
+  static const int16_t RESOLUTION =  4096;
+
 
-  void init(I2C_HandleTypeDef* hi2c, ros::NodeHandle* nh);
+  void init(I2C_HandleTypeDef* hi2c);
   void update(void);
 
+  uint16_t getRawValue(void) const { return raw_encoder_value_;}
+  int16_t getValue(void) const { return value_;}
+  int16_t getOffset(void) const { return offset_;}
+  void setOffset(int16_t offset) { offset_ = offset;}
+  bool connected(void) { return connection_;}
+
 private:
   I2C_HandleTypeDef* hi2c_;
-  ros::NodeHandle* nh_;
-  ros::Publisher angle_pub_;
 
+  bool connection_;
   uint16_t raw_encoder_value_;
-  uint32_t last_time_;
-
-  std_msgs::UInt16 angle_msg_;
-
+  int16_t offset_;
+  int16_t value_;
 };
 
 #endif
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.cpp
new file mode 100644
index 000000000..e10d6b0bf
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.cpp
@@ -0,0 +1,1151 @@
+#include "dynamixel_serial.h"
+// #include "flashmemory/flashmemory.h"
+
+namespace
+{
+#ifdef STM32H7
+  uint8_t rx_buf_[RX_BUFFER_SIZE] __attribute__((section(".GpsRxBufferSection")));
+#else
+  uint8_t rx_buf_[RX_BUFFER_SIZE];
+#endif
+}
+void DynamixelSerial::init(UART_HandleTypeDef* huart, osMutexId* mutex)
+{
+	huart_ = huart;
+        mutex_ = mutex;
+	servo_num_ = 0;
+	set_pos_tick_ = 0;
+	get_pos_tick_ = 0;
+	get_load_tick_ = 0;
+	get_temp_tick_ = 0;
+	get_move_tick_ = 0;
+	get_error_tick_ = 0;
+
+        /* rx */
+        __HAL_UART_DISABLE_IT(huart, UART_IT_PE);
+        __HAL_UART_DISABLE_IT(huart, UART_IT_ERR);
+        HAL_UART_Receive_DMA(huart, rx_buf_, RX_BUFFER_SIZE);
+        rd_ptr_ = 0;
+        memset(rx_buf_, 0, sizeof(rx_buf_));
+
+	std::fill(servo_.begin(), servo_.end(), ServoData(255));
+
+	//initialize servo motors
+	HAL_Delay(500);
+	ping();
+	HAL_Delay(500);
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		reboot(i);
+	}
+	HAL_Delay(2000);
+
+	setStatusReturnLevel();
+	//Successfully detected servo's led will be turned on 1 seconds
+
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		servo_[i].led_ = true;
+	}
+	cmdSyncWriteLed();
+
+	HAL_Delay(1000);
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		servo_[i].led_ = false;
+	}
+	cmdSyncWriteLed();
+
+	for (int i = 0; i < MAX_SERVO_NUM; i++) {
+		FlashMemory::addValue(&(servo_[i].p_gain_), 2);
+		FlashMemory::addValue(&(servo_[i].i_gain_), 2);
+		FlashMemory::addValue(&(servo_[i].d_gain_), 2);
+		FlashMemory::addValue(&(servo_[i].profile_velocity_), 2);
+		FlashMemory::addValue(&(servo_[i].send_data_flag_), 2);
+                FlashMemory::addValue(&(servo_[i].external_encoder_flag_), 2);
+                FlashMemory::addValue(&(servo_[i].joint_resolution_), 2);
+                FlashMemory::addValue(&(servo_[i].servo_resolution_), 2);
+                FlashMemory::addValue(&(servo_[i].joint_offset_), 4);
+	}
+	FlashMemory::addValue(&(ttl_rs485_mixed_), 2);
+
+	FlashMemory::read();
+
+	cmdSyncWritePositionGains();
+	cmdSyncWriteProfileVelocity();
+
+	getHomingOffset(); // This operation always fails after the servo motor is ignited first
+	getHomingOffset(); // So this line is necessary
+	getCurrentLimit();
+	getPositionGains();
+	getProfileVelocity();
+
+
+        //initialize encoder: only can support one encoder
+        // encoder_handler_.init(hi2c); // Magnetic Encoder
+
+	for (int i = 0; i < MAX_SERVO_NUM; i++) {
+          servo_[i].hardware_error_status_ = 0;
+          if(servo_[i].servo_resolution_ == 65535 || servo_[i].joint_resolution_ == 65535){
+            if(servo_[i].external_encoder_flag_)
+              servo_[i].hardware_error_status_ = 1 << RESOLUTION_RATIO_ERROR;  // 0b01000000;
+            servo_[i].resolution_ratio_ = 1;
+          }
+          else{
+            servo_[i].resolution_ratio_ = (float)servo_[i].servo_resolution_ / (float)servo_[i].joint_resolution_;
+            if(servo_[i].external_encoder_flag_) encoder_handler_.setOffset(servo_[i].joint_offset_);
+          }
+	}
+
+        /*set angle scale values*/
+        for (int i = 0; i < MAX_SERVO_NUM; i++){
+          servo_[i].zero_point_offset_ = 2047;
+          servo_[i].angle_scale_ = 3.1416 / 2047;
+        }
+}
+
+void DynamixelSerial::ping()
+{
+	cmdPing(DX_BROADCAST_ID);
+	for (int i = 0; i < PING_TRIAL_NUM; ++i) {
+		readStatusPacket(INST_PING);
+	}
+}
+
+void DynamixelSerial::reboot(uint8_t servo_index)
+{
+	cmdReboot(servo_[servo_index].id_);
+}
+
+void DynamixelSerial::setTorque(uint8_t servo_index)
+{
+  instruction_buffer_.push(std::make_pair(INST_SET_TORQUE, servo_index));
+}
+
+void DynamixelSerial::setRoundOffset(uint8_t servo_index, int32_t ref_value)
+{
+  ServoData& s = servo_[servo_index];
+  if (s.torque_enable_) return; // cannot process if torque is enable
+
+  // workaround to update the internal offset for pulley type in the case that has round gap
+  int32_t diff = ref_value - s.present_position_;
+  if (diff > 2047) s.internal_offset_ += 4096;
+  if (diff < -2047) s.internal_offset_ -= 4096;
+}
+
+void DynamixelSerial::setHomingOffset(uint8_t servo_index)
+{
+  if(servo_[servo_index].external_encoder_flag_){
+	servo_[servo_index].joint_offset_ = servo_[servo_index].calib_value_ + servo_[servo_index].joint_offset_ - servo_[servo_index].present_position_;
+	// servo_[servo_index].joint_offset_ = servo_[servo_index].calib_value_; // debug
+	encoder_handler_.setOffset(servo_[servo_index].joint_offset_);
+	servo_[servo_index].first_get_pos_flag_ = true;
+	FlashMemory::erase();
+	FlashMemory::write();
+  }
+  else{
+    if (mutex_ != NULL)  osMutexWait(*mutex_, osWaitForever);
+
+    // reset homing offset and internal offset
+    servo_[servo_index].homing_offset_ = 0;
+    servo_[servo_index].internal_offset_ = 0;
+    cmdWriteHomingOffset(servo_index);
+    cmdReadHomingOffset(servo_index);
+    readStatusPacket(INST_GET_HOMING_OFFSET);
+
+    // read updated position
+    cmdReadPresentPosition(servo_index);
+    readStatusPacket(INST_GET_PRESENT_POS);
+
+    // set new homing offset
+    servo_[servo_index].updateHomingOffset();
+    cmdWriteHomingOffset(servo_index);
+    cmdReadHomingOffset(servo_index);
+    readStatusPacket(INST_GET_HOMING_OFFSET);
+
+    // read updated position
+    cmdReadPresentPosition(servo_index);
+    readStatusPacket(INST_GET_PRESENT_POS);
+
+    if (mutex_ != NULL) osMutexRelease(*mutex_);
+  }
+}
+
+void DynamixelSerial::setPositionGains(uint8_t servo_index)
+{
+  if (mutex_ != NULL)  osMutexWait(*mutex_, osWaitForever);
+
+  cmdWritePositionGains(servo_index);
+  getPositionGains();
+
+  if (mutex_ != NULL) osMutexRelease(*mutex_);
+}
+
+void DynamixelSerial::setProfileVelocity(uint8_t servo_index)
+{
+  if (mutex_ != NULL)  osMutexWait(*mutex_, osWaitForever);
+
+  cmdWriteProfileVelocity(servo_index);
+  getProfileVelocity();
+
+  if (mutex_ != NULL) osMutexRelease(*mutex_);
+}
+
+void DynamixelSerial::setCurrentLimit(uint8_t servo_index)
+{
+  if (mutex_ != NULL)  osMutexWait(*mutex_, osWaitForever);
+
+  cmdWriteCurrentLimit(servo_index);
+  getCurrentLimit();
+
+  if (mutex_ != NULL) osMutexRelease(*mutex_);
+}
+
+ServoData& DynamixelSerial::getOneServo(uint8_t id)
+{
+  for(int i = 0; i < servo_num_; i++)
+    {
+      if(servo_[i].id_ == id) return servo_[i];
+    }
+  ServoData non_servo;
+  return non_servo;
+}
+
+uint8_t DynamixelSerial::getServoIndex(uint8_t id)
+{
+  for(int i = 0; i < servo_num_; i++)
+    {
+      if(servo_[i].id_ == id) return i;
+    }
+  return 0;
+}
+
+void DynamixelSerial::update()
+{
+  uint32_t current_time = HAL_GetTick();
+
+  /* send position command to servo */
+  if(current_time >= set_pos_tick_ + SET_POS_DU && SET_POS_DU > 0) {
+    if (set_pos_tick_ == 0) set_pos_tick_ = current_time + SET_POS_OFFSET; // init
+    else set_pos_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_SET_GOAL_POS, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_SET_GOAL_POS, 0));
+    }
+  }
+
+  /* read servo position(angle) */
+  if(current_time >= get_pos_tick_ + GET_POS_DU && GET_POS_DU > 0) {
+    if (get_pos_tick_ == 0) get_pos_tick_ = current_time + GET_POS_OFFSET; // init
+    else get_pos_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_POS, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_POS, 0));
+    }
+  }
+
+  /* read servo load */
+
+  if(current_time >= get_load_tick_ + GET_LOAD_DU && GET_LOAD_DU > 0) {
+    if (get_load_tick_ == 0) get_load_tick_ = current_time + GET_LOAD_OFFSET; // init
+    else get_load_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_CURRENT, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_CURRENT, 0));
+    }
+  }
+
+  /* read servo temperature */
+
+  if(current_time >= get_temp_tick_ + GET_TEMP_DU && GET_TEMP_DU > 0) {
+    if (get_temp_tick_ == 0) get_temp_tick_ = current_time + GET_TEMP_OFFSET;  // init
+    else get_temp_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_TEMPERATURE, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_TEMPERATURE, 0));
+    }
+  }
+
+  /* read servo movement */
+  if(current_time >= get_move_tick_ + GET_MOVE_DU && GET_MOVE_DU > 0) {
+    if (get_move_tick_ == 0) get_move_tick_ = current_time + GET_MOVE_OFFSET; // init
+    else get_move_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_MOVING, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_GET_PRESENT_MOVING, 0));
+    }
+  }
+
+  /* read hardware error status */
+  if(current_time >= get_error_tick_ + GET_HARDWARE_ERROR_STATUS_DU && GET_HARDWARE_ERROR_STATUS_DU > 0) {
+    if (get_error_tick_ == 0) get_error_tick_ = current_time + GET_HARDWARE_ERROR_STATUS_OFFSET; // init
+    else get_error_tick_ = current_time;
+
+    if (ttl_rs485_mixed_ != 0) {
+      for (unsigned int i = 0; i < servo_num_; ++i) {
+        instruction_buffer_.push(std::make_pair(INST_GET_HARDWARE_ERROR_STATUS, i));
+      }
+    } else {
+      instruction_buffer_.push(std::make_pair(INST_GET_HARDWARE_ERROR_STATUS, 0));
+    }
+  }
+
+
+  /* process the instruction from the instruction buffer */
+  std::pair<uint8_t, uint8_t> instruction;
+  while(instruction_buffer_.pop(instruction))
+    {
+      bool read_status_packet_flag = false;
+      uint8_t servo_index = instruction.second;
+
+      if (mutex_ != NULL)  osMutexWait(*mutex_, osWaitForever);
+
+      /* set command */
+      switch (instruction.first) {
+      case INST_SET_GOAL_POS: /* send angle command to servo */
+        cmdSyncWriteGoalPosition();
+        break;
+      case INST_SET_TORQUE: /* send torque enable flag */
+        cmdWriteTorqueEnable(servo_index);
+        break;
+      case INST_SET_HOMING_OFFSET:
+        cmdWriteHomingOffset(servo_index);
+        break;
+      case INST_SET_POSITION_GAINS:
+        cmdWritePositionGains(servo_index);
+        break;
+      case INST_SET_CURRENT_LIMIT:
+        cmdWriteCurrentLimit(servo_index);
+        break;
+      case INST_SET_PROFILE_VELOCITY:
+        cmdWriteProfileVelocity(servo_index);
+        break;
+      default:
+        break;
+      }
+
+      /* get command */
+      if (ttl_rs485_mixed_ != 0) {
+        switch (instruction.first) {
+        case INST_GET_PRESENT_POS: /* read servo position(angle) */
+          if(!servo_[servo_index].send_data_flag_ && !servo_[servo_index].first_get_pos_flag_) break;
+          cmdReadPresentPosition(servo_index);
+          readStatusPacket(instruction.first);
+          break;
+        case INST_GET_PRESENT_CURRENT: /* read servo load */
+          if(!servo_[servo_index].send_data_flag_) break;
+          cmdReadPresentCurrent(servo_index);
+          readStatusPacket(instruction.first);
+          break;
+        case INST_GET_PRESENT_TEMPERATURE: /* read servo temp */
+          if(!servo_[servo_index].send_data_flag_) break;
+          cmdReadPresentTemperature(servo_index);
+          readStatusPacket(instruction.first);
+          break;
+        case INST_GET_PRESENT_MOVING: /* read servo movement */
+          if(!servo_[servo_index].send_data_flag_) break;
+          cmdReadMoving(servo_index);
+          readStatusPacket(instruction.first);
+          break;
+        case INST_GET_HARDWARE_ERROR_STATUS:
+          if(!servo_[servo_index].send_data_flag_) break;
+          cmdReadHardwareErrorStatus(servo_index);
+          readStatusPacket(instruction.first);
+          break;
+        case INST_GET_HOMING_OFFSET:
+          for (unsigned int i = 0; i < servo_num_; ++i) {
+            cmdReadHomingOffset(i);
+            readStatusPacket(instruction.first);
+          }
+          break;
+        case INST_GET_POSITION_GAINS:
+          for (unsigned int i = 0; i < servo_num_; ++i) {
+            cmdReadPositionGains(i);
+            readStatusPacket(instruction.first);
+          }
+          break;
+        case INST_GET_PROFILE_VELOCITY:
+          for (unsigned int i = 0; i < servo_num_; ++i) {
+            cmdReadProfileVelocity(i);
+            readStatusPacket(instruction.first);
+          }
+          break;
+        case INST_GET_CURRENT_LIMIT:
+          for (unsigned int i = 0; i < servo_num_; ++i) {
+            cmdReadCurrentLimit(i);
+            readStatusPacket(instruction.first);
+          }
+          break;
+        default:
+          break;
+        }
+      } else {
+        switch (instruction.first) {
+        case INST_GET_PRESENT_POS: /* read servo position(angle) */
+          cmdSyncReadPresentPosition(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_PRESENT_CURRENT: /* read servo load */
+          cmdSyncReadPresentCurrent(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_PRESENT_TEMPERATURE: /* read servo temp */
+          cmdSyncReadPresentTemperature(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_PRESENT_MOVING: /* read servo movement */
+          cmdSyncReadMoving(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_HARDWARE_ERROR_STATUS:
+          cmdSyncReadHardwareErrorStatus(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_HOMING_OFFSET:
+          cmdSyncReadHomingOffset(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_POSITION_GAINS:
+          cmdSyncReadPositionGains(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_PROFILE_VELOCITY:
+          cmdSyncReadProfileVelocity(false);
+          read_status_packet_flag = true;
+          break;
+        case INST_GET_CURRENT_LIMIT:
+          cmdSyncReadCurrentLimit(false);
+          read_status_packet_flag = true;
+          break;
+        default:
+          break;
+        }
+        /* receive data process */
+        if(read_status_packet_flag) {
+          for (unsigned int i = 0; i < servo_num_; i++) {
+            if(!servo_[i].send_data_flag_ && !servo_[i].first_get_pos_flag_) continue;
+            readStatusPacket(instruction.first);
+          }
+        }
+      }
+
+      if (mutex_ != NULL) osMutexRelease(*mutex_);
+    }
+}
+
+/* Transmit instruction packet to Dynamixel */
+void DynamixelSerial::transmitInstructionPacket(uint8_t id, uint16_t len, uint8_t instruction, uint8_t* parameters)
+{
+  uint8_t transmit_data[INSTRUCTION_PACKET_SIZE];
+  /* headers */
+  transmit_data[0] = HEADER0;
+  transmit_data[1] = HEADER1;
+  transmit_data[2] = HEADER2;
+  transmit_data[3] = HEADER3;
+  /* servo id */
+  transmit_data[4] = id;
+  /* instruction len */
+  transmit_data[5] = len & 0xFF; //LEN_L
+  transmit_data[6] = (len >> 8) & 0xFF; //LEN_H
+  /* instruction */
+  transmit_data[7] = instruction;
+  /* parameters */
+  //process for exception
+  int header_match_count = 0;
+  int transmit_data_index = 8;
+  for (int i = 0; i < len - 3; i++) {
+    uint8_t tx_data = parameters[i];
+    if (header_match_count == 0) {
+      if (tx_data == HEADER0) header_match_count++;
+      else header_match_count = 0;
+      transmit_data[transmit_data_index] = tx_data;
+      transmit_data_index++;
+    } else if (header_match_count == 1) {
+      if (tx_data == HEADER1) header_match_count++;
+      else header_match_count = 0;
+      transmit_data[transmit_data_index] = tx_data;
+      transmit_data_index++;
+    } else if (header_match_count == 2) {
+      if (tx_data == HEADER2) {
+        //exception
+        transmit_data[transmit_data_index] = tx_data;
+        transmit_data_index++;
+        transmit_data[transmit_data_index] = EXCEPTION_ADDITIONAL_BYTE;
+        transmit_data_index++;
+      } else {
+        header_match_count = 0;
+        transmit_data[transmit_data_index] = tx_data;
+        transmit_data_index++;
+      }
+    }
+  }
+
+  /* checksum */
+  uint16_t chksum = calcCRC16(0, transmit_data, transmit_data_index);
+
+  transmit_data[transmit_data_index] = chksum & 0xFF; //CRC_L
+  transmit_data_index++;
+  transmit_data[transmit_data_index] = (chksum >> 8) & 0xFF; //CRC_H
+  transmit_data_index++;
+
+  /* send data */
+  // WE;
+  HAL_UART_Transmit(huart_, transmit_data, transmit_data_index, 10); //timeout: 10 ms. Although we found 2 ms is enough OK for our case by oscilloscope. Large value is better for UART async task in RTOS.
+  // RE;
+}
+
+/* Receive status packet to Dynamixel */
+int8_t DynamixelSerial::readStatusPacket(uint8_t status_packet_instruction)
+{
+	int status_stage = READ_HEADER0;
+	uint8_t rx_data;
+	int header_match_count = 0;
+	uint16_t parameter_len = 0;
+	uint8_t parameters[STATUS_PACKET_SIZE];
+	int parameter_index = 0;
+	int parameter_loop_count = 0;
+	uint16_t checksum = 0;
+	uint8_t receive_data[STATUS_PACKET_SIZE];
+	bool read_end_flag = false;
+	int loop_count = 0;
+	uint8_t servo_id;
+
+	while(!read_end_flag) {
+		HAL_StatusTypeDef receive_status = read(&rx_data, 1);
+		if(receive_status == HAL_TIMEOUT)
+			{
+				return -1;
+			}
+
+		switch (status_stage) {
+		case READ_HEADER0:
+			if (rx_data == HEADER0) {
+				status_stage++;
+			}
+			break;
+		case READ_HEADER1:
+			if (rx_data == HEADER1) {
+				status_stage++;
+			} else {
+				return -1;
+			}
+			break;
+		case READ_HEADER2:
+			if (rx_data == HEADER2) {
+				status_stage++;
+			} else {
+				return -1;
+			}
+			break;
+		case READ_HEADER3:
+			if (rx_data == HEADER3) {
+				status_stage++;
+			} else {
+				return -1;
+			}
+			break;
+		case READ_SERVOID:
+			servo_id = rx_data;
+			status_stage++;
+			break;
+		case READ_LENL:
+			parameter_len = rx_data;
+			status_stage++;
+			break;
+		case READ_LENH:
+			parameter_len |= ((rx_data << 8) & 0xFF00);
+			status_stage++;
+			break;
+		case READ_INSTRUCTION:
+			if (rx_data == STATUS_PACKET_INSTRUCTION) {
+				status_stage++;
+			} else {
+				return -1;
+			}
+			break;
+		case READ_ERROR:
+			if ((rx_data & 0x7F) == ERROR_NO_ERROR) {
+				status_stage++;
+			} else {
+				return -1;
+			}
+			break;
+		case READ_PARAMETER:
+			//process for exception
+			if (header_match_count == 0) {
+				if (rx_data == HEADER0) header_match_count++;
+				else header_match_count = 0;
+				parameters[parameter_index] = rx_data;
+				parameter_index++;
+			} else if (header_match_count == 1) {
+				if (rx_data == HEADER1) header_match_count++;
+				else header_match_count = 0;
+				parameters[parameter_index] = rx_data;
+				parameter_index++;
+			} else if (header_match_count == 2) {
+				if (rx_data == HEADER2) header_match_count++;
+				else header_match_count = 0;
+				parameters[parameter_index] = rx_data;
+				parameter_index++;
+			} else if (header_match_count == 3) {
+				if (rx_data == EXCEPTION_ADDITIONAL_BYTE) {
+					header_match_count = 0;
+				} else {
+					return -1;
+				}
+			}
+			parameter_loop_count++;
+			if (parameter_loop_count == parameter_len - 4) {
+				status_stage++;
+			}
+			break;
+		case READ_CHECKSUML:
+			checksum = rx_data;
+			status_stage++;
+			break;
+		case READ_CHECKSUMH:
+			checksum |= ((rx_data << 8) & 0xFF00);
+			if (checksum == calcCRC16(0, receive_data, loop_count)) {
+				read_end_flag = true;
+			} else {
+				return -1;
+			}
+			break;
+		default:
+			return -1;
+		}
+		if (status_stage > READ_HEADER0 && status_stage != READ_CHECKSUMH) {
+			receive_data[loop_count] = rx_data;
+			loop_count++;
+		}
+	}
+
+	auto s = std::find(servo_.begin(), servo_.end(), ServoData(servo_id));
+
+        /* clear UART RX */
+        __HAL_UART_CLEAR_FLAG(huart_, UART_FLAG_RXNE);
+        __HAL_UART_CLEAR_PEFLAG(huart_);
+        __HAL_UART_CLEAR_OREFLAG(huart_);
+        __HAL_UART_CLEAR_FEFLAG(huart_);
+
+	/* read success */
+	switch (status_packet_instruction) {
+	case INST_PING:
+		servo_[servo_num_++].id_ = servo_id;
+	    return 0;
+	case INST_GET_PRESENT_POS:
+	{
+		int32_t present_position = ((parameters[3] << 24) & 0xFF000000) | ((parameters[2] << 16) & 0xFF0000) | ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+		if (s != servo_.end()) {
+                  s->hardware_error_status_ &= ((1 << ENCODER_CONNECT_ERROR) - 1); // &= 0b01111111
+                  if(s->external_encoder_flag_) {
+                    encoder_handler_.update();
+                    if(encoder_handler_.connected()) {
+                      s->present_position_ = (int32_t)(encoder_handler_.getValue()); // use external encoder value instead of servo internal encoder value
+
+                      if (s->first_get_pos_flag_) {
+                        s->internal_offset_ = s->resolution_ratio_ * s->present_position_ - present_position;
+                        s->first_get_pos_flag_ = false;
+                      }
+
+                      // TODO: check tooth jump
+                    }
+                    else {
+                      s->hardware_error_status_ |= 1 << ENCODER_CONNECT_ERROR; // |= 0b10000000:  encoder is not connected
+                    }
+                  }
+                  else {
+                    if (s->first_get_pos_flag_) {
+                      s->internal_offset_ = std::floor(present_position / 4096.0) * -4096; // to convert [0, 4096]
+                      s->first_get_pos_flag_ = false;
+                    }
+                    s->setPresentPosition(present_position);
+                  }
+		}
+                return 0;
+	}
+	case INST_GET_PRESENT_CURRENT:
+		if (s != servo_.end()) {
+			s->present_current_ = ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+		}
+		return 0;
+	case INST_GET_PRESENT_TEMPERATURE:
+		if (s != servo_.end()) {
+			s->present_temp_ = parameters[0];
+		}
+		return 0;
+	case INST_GET_PRESENT_MOVING:
+		if (s != servo_.end()) {
+			s->moving_ = parameters[0];
+		}
+		return 0;
+	case INST_GET_HOMING_OFFSET:
+		if (s != servo_.end()) {
+			s->homing_offset_ = ((parameters[3] << 24) & 0xFF000000) | ((parameters[2] << 16) & 0xFF0000) | ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+		}
+		return 0;
+	case INST_GET_HARDWARE_ERROR_STATUS:
+		if (s != servo_.end()) {
+                  s->hardware_error_status_ &=  ((1 << RESOLUTION_RATIO_ERROR) + (1 << ENCODER_CONNECT_ERROR));  //  &= 0b11000000;
+                  s->hardware_error_status_ |= parameters[0];
+		}
+		return 0;
+	case INST_GET_CURRENT_LIMIT:
+		if (s != servo_.end()) {
+			s->current_limit_ = ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+		}
+		return 0;
+	case INST_GET_POSITION_GAINS:
+		if (s != servo_.end()) {
+			s->d_gain_ = ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+			s->i_gain_ = ((parameters[3] << 8) & 0xFF00) | (parameters[2] & 0xFF);
+			s->p_gain_ = ((parameters[5] << 8) & 0xFF00) | (parameters[4] & 0xFF);
+		}
+		return 0;
+	case INST_GET_PROFILE_VELOCITY:
+		if (s != servo_.end()) {
+			s->profile_velocity_ = ((parameters[3] << 24) & 0xFF000000) | ((parameters[2] << 16) & 0xFF0000) | ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF);
+		}
+		return 0;
+	default:
+		return -1;
+	}
+}
+
+void DynamixelSerial::cmdPing(uint8_t id)
+{
+  transmitInstructionPacket(id, PING_LEN, COMMAND_PING, nullptr);
+}
+
+void DynamixelSerial::cmdReboot(uint8_t id)
+{
+	transmitInstructionPacket(id, REBOOT_LEN, COMMAND_REBOOT, nullptr);
+}
+
+void DynamixelSerial::cmdRead(uint8_t id, uint16_t address, uint16_t byte_size)
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	parameters[0] = address & 0xFF;
+	parameters[1] = (address >> 8) & 0xFF;
+	parameters[2] = byte_size & 0xFF;
+	parameters[3] = (byte_size >> 8) & 0xFF;
+	transmitInstructionPacket(id, READ_INST_LEN, COMMAND_READ, parameters);
+}
+
+void DynamixelSerial::cmdWrite(uint8_t id, uint16_t address, uint8_t* param, int param_len)
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	parameters[0] = address & 0xFF;
+	parameters[1] = (address >> 8) & 0xFF;
+	for (int i = 0; i < param_len; i++) {
+		parameters[i + 2] = param[i];
+	}
+	transmitInstructionPacket(id, param_len + 5, COMMAND_WRITE, parameters);
+}
+
+void DynamixelSerial::cmdSyncRead(uint16_t address, uint16_t byte_size, bool send_all)
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	parameters[0] = address & 0xFF;
+	parameters[1] = (address >> 8) & 0xFF;
+	parameters[2] = byte_size & 0xFF;
+	parameters[3] = (byte_size >> 8) & 0xFF;
+	int param_idx = 4;
+	for (unsigned int i = 0; i < servo_num_; i++) {
+          if(!send_all && !servo_[i].send_data_flag_ && !servo_[i].first_get_pos_flag_) continue;
+          parameters[param_idx++] = servo_[i].id_;
+	}
+	transmitInstructionPacket(DX_BROADCAST_ID, param_idx + 3, COMMAND_SYNC_READ, parameters);
+}
+
+void DynamixelSerial::cmdSyncWrite(uint16_t address, uint8_t* param, int param_len)
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	parameters[0] = address & 0xFF;
+	parameters[1] = (address >> 8) & 0xFF;
+	parameters[2] = param_len & 0xFF;
+	parameters[3] = (param_len >> 8) & 0xFF;
+	int all_param_idx = 4;
+	int param_idx = 0;
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		parameters[all_param_idx++] = servo_[i].id_;
+		for (int j = 0; j < param_len; j++) {
+			parameters[all_param_idx++] = param[param_idx++];
+		}
+	}
+	transmitInstructionPacket(DX_BROADCAST_ID, all_param_idx + 3, COMMAND_SYNC_WRITE, parameters);
+}
+
+void DynamixelSerial::cmdReadCurrentLimit(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_CURRENT_LIMIT, CURRENT_LIMIT_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadHardwareErrorStatus(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_HARDWARE_ERROR_STATUS, HARDWARE_ERROR_STATUS_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadHomingOffset(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_HOMING_OFFSET, HOMING_OFFSET_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadMoving(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_MOVING, MOVING_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadPositionGains(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_POSITION_D_GAIN, POSITION_GAINS_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadPresentCurrent(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_PRESENT_CURRENT, PRESENT_CURRENT_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadPresentPosition(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_PRESENT_POSITION, PRESENT_POSITION_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadPresentTemperature(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_PRESENT_TEMPERATURE, PRESENT_TEMPERATURE_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdReadProfileVelocity(uint8_t servo_index)
+{
+	cmdRead(servo_[servo_index].id_, CTRL_PROFILE_VELOCITY, PROFILE_VELOCITY_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWriteCurrentLimit(uint8_t servo_index)
+{
+	uint16_t current_limit = servo_[servo_index].current_limit_;
+	uint8_t parameters[CURRENT_LIMIT_BYTE_LEN];
+	parameters[0] = (uint8_t)(current_limit & 0xFF);
+	parameters[1] = (uint8_t)((current_limit >> 8) & 0xFF);
+
+	cmdWrite(servo_[servo_index].id_, CTRL_CURRENT_LIMIT, parameters, CURRENT_LIMIT_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWriteHomingOffset(uint8_t servo_index)
+{
+	int32_t homing_offset = servo_[servo_index].homing_offset_;
+	uint8_t parameters[4];
+	parameters[0] = (uint8_t)(homing_offset & 0xFF);
+	parameters[1] = (uint8_t)((homing_offset >> 8) & 0xFF);
+	parameters[2] = (uint8_t)((homing_offset >> 16) & 0xFF);
+	parameters[3] = (uint8_t)((homing_offset >> 24) & 0xFF);
+	cmdWrite(servo_[servo_index].id_, CTRL_HOMING_OFFSET, parameters, HOMING_OFFSET_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWritePositionGains(uint8_t servo_index)
+{
+	uint8_t parameters[POSITION_GAINS_BYTE_LEN];
+	parameters[0] = servo_[servo_index].d_gain_ & 0xFF;
+	parameters[1] = (servo_[servo_index].d_gain_ >> 8) & 0xFF;
+	parameters[2] = servo_[servo_index].i_gain_ & 0xFF;
+	parameters[3] = (servo_[servo_index].i_gain_ >> 8) & 0xFF;
+	parameters[4] = servo_[servo_index].p_gain_ & 0xFF;
+	parameters[5] = (servo_[servo_index].p_gain_ >> 8) & 0xFF;
+
+	cmdWrite(servo_[servo_index].id_, CTRL_POSITION_D_GAIN, parameters, POSITION_GAINS_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWriteProfileVelocity(uint8_t servo_index)
+{
+	uint16_t vel = servo_[servo_index].profile_velocity_;
+	uint8_t parameters[PROFILE_VELOCITY_BYTE_LEN];
+	parameters[0] = (uint8_t)(vel & 0xFF);
+	parameters[1] = (uint8_t)((vel >> 8) & 0xFF);
+	parameters[2] = (uint8_t)((vel >> 16) & 0xFF);
+	parameters[3] = (uint8_t)((vel >> 24) & 0xFF);
+	cmdWrite(servo_[servo_index].id_, CTRL_PROFILE_VELOCITY, parameters, PROFILE_VELOCITY_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWriteStatusReturnLevel(uint8_t id, uint8_t set)
+{
+	uint8_t param = set;
+	cmdWrite(id, CTRL_STATUS_RETURN_LEVEL, &param, STATUS_RETURN_LEVEL_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdWriteTorqueEnable(uint8_t servo_index)
+{
+
+	uint8_t	parameter = (uint8_t)((servo_[servo_index].torque_enable_) ? 1 : 0);
+
+	cmdWrite(servo_[servo_index].id_, CTRL_TORQUE_ENABLE, &parameter, TORQUE_ENABLE_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdSyncReadCurrentLimit(bool send_all)
+{
+	cmdSyncRead(CTRL_CURRENT_LIMIT, CURRENT_LIMIT_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadHardwareErrorStatus(bool send_all)
+{
+	cmdSyncRead(CTRL_HARDWARE_ERROR_STATUS, HARDWARE_ERROR_STATUS_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadHomingOffset(bool send_all)
+{
+	cmdSyncRead(CTRL_HOMING_OFFSET, HOMING_OFFSET_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadMoving(bool send_all)
+{
+	cmdSyncRead(CTRL_MOVING, MOVING_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadPositionGains(bool send_all)
+{
+	cmdSyncRead(CTRL_POSITION_D_GAIN, POSITION_GAINS_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadPresentCurrent(bool send_all)
+{
+	cmdSyncRead(CTRL_PRESENT_CURRENT, PRESENT_CURRENT_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadPresentPosition(bool send_all)
+{
+	cmdSyncRead(CTRL_PRESENT_POSITION, PRESENT_POSITION_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadPresentTemperature(bool send_all)
+{
+	cmdSyncRead(CTRL_PRESENT_TEMPERATURE, PRESENT_TEMPERATURE_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncReadProfileVelocity(bool send_all)
+{
+	cmdSyncRead(CTRL_PROFILE_VELOCITY, PROFILE_VELOCITY_BYTE_LEN, send_all);
+}
+
+void DynamixelSerial::cmdSyncWriteGoalPosition()
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		int32_t goal_position = servo_[i].getGoalPosition();
+		parameters[i * 4 + 0] = (uint8_t)((int32_t)(goal_position) & 0xFF);
+		parameters[i * 4 + 1] = (uint8_t)(((int32_t)(goal_position) >> 8) & 0xFF);
+		parameters[i * 4 + 2] = (uint8_t)(((int32_t)(goal_position) >> 16) & 0xFF);
+		parameters[i * 4 + 3] = (uint8_t)(((int32_t)(goal_position) >> 24) & 0xFF);
+	}
+
+	cmdSyncWrite(CTRL_GOAL_POSITION, parameters, GOAL_POSITION_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdSyncWriteLed()
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		parameters[i] = (uint8_t)((servo_[i].led_) ? 1 : 0);
+	}
+
+	cmdSyncWrite(CTRL_LED, parameters, LED_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdSyncWritePositionGains()
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		parameters[i * 6 + 0] = servo_[i].d_gain_ & 0xFF;
+		parameters[i * 6 + 1] = (servo_[i].d_gain_ >> 8) & 0xFF;
+		parameters[i * 6 + 2] = servo_[i].i_gain_ & 0xFF;
+		parameters[i * 6 + 3] = (servo_[i].i_gain_ >> 8) & 0xFF;
+		parameters[i * 6 + 4] = servo_[i].p_gain_ & 0xFF;
+		parameters[i * 6 + 5] = (servo_[i].p_gain_ >> 8) & 0xFF;
+	}
+
+	cmdSyncWrite(CTRL_POSITION_D_GAIN, parameters, POSITION_GAINS_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdSyncWriteProfileVelocity()
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		parameters[i * 4 + 0] = (uint8_t)((int32_t)(servo_[i].profile_velocity_) & 0xFF);
+		parameters[i * 4 + 1] = (uint8_t)(((int32_t)(servo_[i].profile_velocity_) >> 8) & 0xFF);
+		parameters[i * 4 + 2] = (uint8_t)(((int32_t)(servo_[i].profile_velocity_) >> 16) & 0xFF);
+		parameters[i * 4 + 3] = (uint8_t)(((int32_t)(servo_[i].profile_velocity_) >> 24) & 0xFF);
+	}
+
+	cmdSyncWrite(CTRL_PROFILE_VELOCITY, parameters, PROFILE_VELOCITY_BYTE_LEN);
+}
+
+void DynamixelSerial::cmdSyncWriteTorqueEnable()
+{
+	uint8_t parameters[INSTRUCTION_PACKET_SIZE];
+
+	for (unsigned int i = 0; i < servo_num_; i++) {
+		parameters[i] = (uint8_t)((servo_[i].torque_enable_) ? 1 : 0);
+	}
+
+	cmdSyncWrite(CTRL_TORQUE_ENABLE, parameters, TORQUE_ENABLE_BYTE_LEN);
+}
+
+
+void DynamixelSerial::setStatusReturnLevel()
+{
+	cmdWriteStatusReturnLevel(DX_BROADCAST_ID, READ);
+}
+
+void DynamixelSerial::getHomingOffset()
+{
+	if (ttl_rs485_mixed_ != 0) {
+		for (unsigned int i = 0; i < servo_num_; ++i) {
+			cmdReadHomingOffset(i);
+			readStatusPacket(INST_GET_HOMING_OFFSET);
+		}
+	} else {
+		cmdSyncReadHomingOffset();
+		for (unsigned int i = 0; i < servo_num_; i++) {
+			readStatusPacket(INST_GET_HOMING_OFFSET);
+		}
+	}
+}
+
+void DynamixelSerial::getCurrentLimit()
+{
+	if (ttl_rs485_mixed_ != 0) {
+		for (unsigned int i = 0; i < servo_num_; ++i) {
+			cmdReadCurrentLimit(i);
+			readStatusPacket(INST_GET_CURRENT_LIMIT);
+		}
+	} else {
+		cmdSyncReadCurrentLimit();
+		for (unsigned int i = 0; i < servo_num_; i++) {
+			readStatusPacket(INST_GET_CURRENT_LIMIT);
+		}
+	}
+}
+
+void DynamixelSerial::getPositionGains()
+{
+	if (ttl_rs485_mixed_ != 0) {
+		for (unsigned int i = 0; i < servo_num_; ++i) {
+			cmdReadPositionGains(i);
+			readStatusPacket(INST_GET_POSITION_GAINS);
+		}
+	} else {
+		cmdSyncReadPositionGains();
+		for (unsigned int i = 0; i < servo_num_; i++) {
+			readStatusPacket(INST_GET_POSITION_GAINS);
+		}
+	}
+}
+
+void DynamixelSerial::getProfileVelocity()
+{
+	if (ttl_rs485_mixed_ != 0) {
+		for (unsigned int i = 0; i < servo_num_; ++i) {
+			cmdReadProfileVelocity(i);
+			readStatusPacket(INST_GET_PROFILE_VELOCITY);
+		}
+	} else {
+		cmdSyncReadProfileVelocity();
+		for (unsigned int i = 0; i < servo_num_; i++) {
+			readStatusPacket(INST_GET_PROFILE_VELOCITY);
+		}
+	}
+}
+
+static const uint16_t crc_table[256] = {
+          0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+          0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
+          0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
+          0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
+          0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
+          0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
+          0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
+          0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+          0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
+          0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
+          0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
+          0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
+          0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
+          0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
+          0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+          0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
+          0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
+          0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
+          0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
+          0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
+          0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
+          0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+          0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
+          0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
+          0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
+          0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
+          0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
+          0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
+          0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+          0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
+          0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
+          0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
+      	};
+
+uint16_t DynamixelSerial::calcCRC16(uint16_t crc_accum, uint8_t *data_blk_ptr, int data_blk_size)
+{
+	for(int j = 0; j < data_blk_size; j++) {
+		int i = ((int)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF;
+		crc_accum = (crc_accum << 8) ^ crc_table[i];
+	}
+	return crc_accum;
+}
+
+HAL_StatusTypeDef DynamixelSerial::read(uint8_t* data,  uint32_t timeout)
+{
+  /* handle RX Overrun Error */
+  if ( __HAL_UART_GET_FLAG(huart_, UART_FLAG_ORE) )
+    {
+      __HAL_UART_CLEAR_FLAG(huart_, UART_FLAG_RXNE);
+      __HAL_UART_CLEAR_PEFLAG(huart_);
+      __HAL_UART_CLEAR_OREFLAG(huart_);
+      __HAL_UART_CLEAR_FEFLAG(huart_);
+
+      HAL_UART_Receive_DMA(huart_, rx_buf_, RX_BUFFER_SIZE);
+    }
+
+  uint32_t tick_start = HAL_GetTick();
+
+  while (true)
+    {
+      // uint32_t dma_write_ptr =  (RX_BUFFER_SIZE - huart_->hdmarx->Instance->NDTR) % (RX_BUFFER_SIZE);
+      uint32_t dma_write_ptr =  (RX_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(huart_->hdmarx)) % (RX_BUFFER_SIZE);
+      if(rd_ptr_ != dma_write_ptr)
+        {
+          *data = (int)rx_buf_[rd_ptr_++];
+          rd_ptr_ %= RX_BUFFER_SIZE;
+          return HAL_OK;
+        }
+
+      if (((HAL_GetTick() - tick_start) > timeout) || (timeout == 0U))
+        {
+          return HAL_TIMEOUT;
+        }
+    }
+}
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.h
new file mode 100644
index 000000000..533cf106e
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/Dynamixel/dynamixel_serial.h
@@ -0,0 +1,416 @@
+/*
+  How Dynamixel work can be found
+  http://www.besttechnology.co.jp/modules/knowledge
+  http://www.besttechnology.co.jp/modules/knowledge/?MX%20Series%20Control%20table
+*/
+
+#ifndef Dynamixel_Serial_h
+#define Dynamixel_Serial_h
+
+
+#include <inttypes.h>
+#include <stdlib.h>
+#include <array>
+#include <algorithm>
+#include <utility>
+#include <cmath>
+// #include "flashmemory.h"
+#include "flashmemory/flashmemory.h"
+// #include "sensors/encoder/mag_encoder.h"
+#include "sensors/encoder/mag_encoder.h"
+#include "cmsis_os.h"
+
+#include <string.h>
+#include "config.h"
+
+/* first should set the baudrate to 1000000*/
+/* uncomment following macro, and set the uart baudrate to 57143(M
+ * X28), then the buadrate will change */
+/* then comment following macro, change the baudrate back to 1000000 */
+
+/* second, should set some setting to the servo */
+/* 1. the responce delay: which is very important for MX28AR,
+ *  uncomment the INIT_SETTING marcro, and comment again after the setting
+ *  we observed that the RX of uart will turn to 0, after the tx process
+ *  therefore, we set the delay of rx after rx to be 0 => no 0V after rx
+ *  2. the voltage: we set the voltage limit according to the battery(4s: 17V)
+ */
+
+//#define SET_BAUD
+//#define SET_ID
+//#define PING_TEST
+//#define LED_TEST
+//#define INIT_SETTING
+//#define SERVO_TEST
+//#define WHEEL_TEST
+//#define SET_HOMING_OFFSET
+
+//#########################################################################
+//################ define - Dynamixel Hex control table ######################
+
+#define CTRL_MODEL_NUMBER             	0x00
+#define CTRL_MODEL_INFORMATION        	0x02
+#define CTRL_VERSTION_OF_FIRMWARE     	0x06
+#define CTRL_ID                       	0x07
+#define CTRL_BAUD_RATE                	0x08
+#define CTRL_RETURN_DELAY_TIME        	0x09
+#define CTRL_DRIVE_MODE 		      	0x0a
+#define CTRL_OPERATING_MODE           	0x0b
+#define CTRL_SECONDARY_ID             	0x0c
+#define CTRL_PROTOCOL_VERSTION        	0x0d
+#define CTRL_HOMING_OFFSET            	0x14
+#define CTRL_MOVING_THRESHOLD	      	0x18
+#define CTRL_TEMPERATURE_LIMIT        	0x1f
+#define CTRL_MAX_VOLTAGE_LIMIT        	0x20
+#define CTRL_MIN_VOLTAGE_LIMIT        	0x22
+#define CTRL_PWM_LIMIT                	0x24
+#define CTRL_CURRENT_LIMIT            	0x26
+#define CTRL_ACCELERATION_LIMIT       	0x28
+#define CTRL_VELOCITY_LIMIT           	0x2c
+#define CTRL_MAX_POSITION_LIMIT       	0x30
+#define CTRL_MIN_POSITION_LIMIT       	0x34
+#define CTRL_SHUTDOWN                 	0x3F
+#define CTRL_TORQUE_ENABLE            	0x40
+#define CTRL_LED					  	0x41
+#define CTRL_STATUS_RETURN_LEVEL      	0x44
+#define CTRL_REGISTERED_INSTRUCTION   	0x45
+#define CTRL_HARDWARE_ERROR_STATUS    	0x46
+#define CTRL_VELOCITY_I_GAIN          	0x4c
+#define CTRL_VELOCITY_P_GAIN          	0x4e
+#define CTRL_POSITION_D_GAIN          	0x50
+#define CTRL_POSITION_I_GAIN          	0x52
+#define CTRL_POSITION_P_GAIN          	0x54
+#define CTRL_FEEDFORWARD_SECONDGAIN   	0x58
+#define CTRL_FEEDFORWARD_FIRSTGAIN    	0x5a
+#define CTRL_BUS_WATCHDOG		      	0x62
+#define CTRL_GOAL_PWM				  	0x64
+#define CTRL_GOAL_CURRENT			  	0x66
+#define CTRL_GOAL_VELOCITY			  	0x68
+#define CTRL_PROFILE_ACCELERATION	  	0x6c
+#define CTRL_PROFILE_VELOCITY		  	0x70
+#define CTRL_GOAL_POSITION			  	0x74
+#define CTRL_REALTIME_TICK			  	0x78
+#define CTRL_MOVING					  	0x7a
+#define CTRL_MOVING_STATUS			  	0x7b
+#define CTRL_PRESENT_PWM			  	0x7c
+#define CTRL_PRESENT_CURRENT		  	0x7e
+#define CTRL_PRESENT_VELOCITY		  	0x80
+#define CTRL_PRESENT_POSITION	      	0x84
+#define CTRL_VELOCITY_TRAJECTORY      	0x88
+#define CTRL_POSITION_TRAJECTORY	  	0x8c
+#define CTRL_PRESENT_INPUT_VOLTAGE    	0x90
+#define CTRL_PRESENT_TEMPERATURE	  	0x92
+
+//################ Instruction commands Set ###############################
+#define COMMAND_PING               		0x01
+#define COMMAND_READ                 	0x02
+#define COMMAND_WRITE   	        	0x03
+#define COMMAND_REG_WRITE		      	0x04
+#define COMMAND_ACTION              	0x05
+#define COMMAND_FACTORY_RESET           0x06
+#define COMMAND_REBOOT					0x08
+#define COMMAND_SYNC_READ				0x82
+#define COMMAND_SYNC_WRITE          	0x83
+#define COMMAND_BULK_READ				0x92
+#define COMMAND_BULK_WRITE				0x93
+
+//################ Instruction packet lengths #############################
+#define PING_LEN						3
+#define READ_INST_LEN					7
+#define HOMING_OFFSET_BYTE_LEN			4
+#define SET_STATUS_RETURN_LEVEL_LEN		3
+#define REBOOT_LEN						3
+#define TORQUE_ENABLE_BYTE_LEN			1
+#define LED_BYTE_LEN					1
+#define STATUS_RETURN_LEVEL_BYTE_LEN	1
+#define GOAL_POSITION_BYTE_LEN			4
+#define PRESENT_POSITION_BYTE_LEN		4
+#define PRESENT_CURRENT_BYTE_LEN		2
+#define PRESENT_TEMPERATURE_BYTE_LEN	1
+#define MOVING_BYTE_LEN 				1
+#define HARDWARE_ERROR_STATUS_BYTE_LEN	1
+#define POSITION_GAINS_BYTE_LEN			6
+#define PROFILE_VELOCITY_BYTE_LEN		4
+#define CURRENT_LIMIT_BYTE_LEN			2
+
+//#########################################################################
+//############################ Specials ###################################
+
+#define NONE					0x00
+#define READ					0x01
+#define ALL						0x02
+
+#define DX_BROADCAST_ID           	0xFE
+
+#define HEADER0 				0xFF
+#define HEADER1 				0xFF
+#define HEADER2 				0xFD
+#define HEADER3 				0x00
+#define EXCEPTION_ADDITIONAL_BYTE 0xFD
+
+#define INSTRUCTION_PACKET_SIZE 64
+#define STATUS_PACKET_SIZE 		64
+
+#define MAX_SERVO_NUM			8
+#define PING_TRIAL_NUM			100
+
+//read status packet
+#define READ_HEADER0					0
+#define READ_HEADER1					1
+#define READ_HEADER2					2
+#define READ_HEADER3					3
+#define READ_SERVOID					4
+#define READ_LENL						5
+#define READ_LENH						6
+#define READ_INSTRUCTION				7
+#define READ_ERROR						8
+#define READ_PARAMETER		 			9
+#define READ_CHECKSUML 					10
+#define READ_CHECKSUMH					11
+#define STATUS_PACKET_INSTRUCTION		0x55
+
+//error
+#define ERROR_NO_ERROR					0
+#define ERROR_RESULT_FAIL				1
+#define ERROR_INSTRUCTION_ERROR			2
+#define ERROR_CRC_ERROR					3
+#define ERROR_DATA_RANGE_ERROR			4
+#define ERROR_DATA_LENGTH_ERROR			5
+#define ERROR_DATA_LIMIT_ERROR			6
+#define ERROR_ACCESS_ERROR				7
+//addintional error status for external encoder
+#define RESOLUTION_RATIO_ERROR 6
+#define ENCODER_CONNECT_ERROR 7
+
+
+//for instruction buffer
+#define INST_GET_CURRENT_LIMIT			0
+#define INST_GET_HARDWARE_ERROR_STATUS  1
+#define INST_GET_HOMING_OFFSET			2
+#define INST_GET_POSITION_GAINS			3
+#define INST_GET_PRESENT_CURRENT		4
+#define INST_GET_PRESENT_MOVING			5
+#define INST_GET_PRESENT_POS			6
+#define INST_GET_PRESENT_TEMPERATURE	7
+#define INST_GET_PROFILE_VELOCITY		8
+#define INST_PING						9
+#define INST_SET_CURRENT_LIMIT			10
+#define INST_SET_GOAL_POS 				11
+#define INST_SET_HOMING_OFFSET			12
+#define INST_SET_POSITION_GAINS			13
+#define INST_SET_PROFILE_VELOCITY		14
+#define INST_SET_TORQUE					15
+
+//instruction frequency: 0 means no process
+#define SET_POS_DU 20 //[msec], 20ms => 50Hz
+#define SET_POS_OFFSET 0 // offset from SET_POS
+#define GET_POS_DU 20 //[msec], 20ms => 50Hz
+#define GET_POS_OFFSET 10 //offset from GET_POS
+#define GET_LOAD_DU 200 //[msec], 200ms => 5Hz
+#define GET_LOAD_OFFSET 0 //offset from GET_LOAD
+#define GET_TEMP_DU 200 //[msec], 200ms => 5Hz
+#define GET_TEMP_OFFSET 50 //offset from GET_TEMP
+#define GET_MOVE_DU 200 //[msec], 200ms => 5Hz
+#define GET_MOVE_OFFSET 100 //offset from GET_MOVE
+#define GET_HARDWARE_ERROR_STATUS_DU 200 //[msec], 200ms => 5Hz
+#define GET_HARDWARE_ERROR_STATUS_OFFSET 150
+
+/* please define the gpio which control the IO direction */
+// #define WE HAL_GPIO_WritePin(RS485EN_GPIO_Port, RS485EN_Pin, GPIO_PIN_SET);
+// #define RE HAL_GPIO_WritePin(RS485EN_GPIO_Port, RS485EN_Pin, GPIO_PIN_RESET);
+
+/* DMA circular rx buffer size */
+#define RX_BUFFER_SIZE 512
+
+template <typename T,  int SIZE>
+class RingBufferDx
+{
+public:
+  RingBufferDx()
+  {
+    byte_in_progress_ = 0;
+    byte_to_add_ = 0;
+    buffer_length_ = (uint16_t)SIZE;
+  }
+  ~RingBufferDx(){  }
+
+  bool pop(T& pop_value)
+  {
+    if (byte_in_progress_ != byte_to_add_)
+      {
+        pop_value =  buf_[byte_in_progress_];
+
+        byte_in_progress_++;
+        if (byte_in_progress_ == buffer_length_)
+          byte_in_progress_ = 0;
+
+        return true;
+      }
+    return false;
+  }
+
+  bool push(T new_value)
+  {
+    // the pop process should have higher priority than the push process
+    if ((byte_in_progress_ == (byte_to_add_ + 1)) || ( (byte_to_add_ == (buffer_length_ - 1) )&& (byte_in_progress_ == 0)) ) return false;
+
+    buf_[byte_to_add_] = new_value;
+
+    byte_to_add_++;
+
+    if (byte_to_add_ == buffer_length_)
+      {
+        byte_to_add_ = 0;
+      }
+    return true;
+  }
+
+  uint16_t length()
+  {
+    if(byte_to_add_ - byte_in_progress_ >= 0)
+      return (byte_to_add_ - byte_in_progress_);
+    else 
+      return (byte_to_add_ + (buffer_length_ - byte_in_progress_));
+  }
+
+private:
+  T buf_[SIZE];
+  int16_t byte_in_progress_, byte_to_add_;
+  uint16_t buffer_length_;
+};
+
+class ServoData {
+public:
+	ServoData(){}
+  ServoData(uint8_t id): id_(id), torque_enable_(false), first_get_pos_flag_(true), internal_offset_(0){}
+
+	uint8_t id_;
+  	int32_t present_position_;
+	int32_t goal_position_;
+        int32_t calib_value_;
+	int32_t homing_offset_;
+        int32_t internal_offset_;
+        uint8_t present_temp_;
+	int16_t present_current_;
+	uint8_t moving_;
+	uint8_t hardware_error_status_;
+	uint16_t p_gain_, i_gain_, d_gain_;
+	uint16_t profile_velocity_;
+	uint16_t current_limit_;
+	uint16_t send_data_flag_;
+        uint16_t external_encoder_flag_;
+        int32_t joint_offset_;
+        uint16_t joint_resolution_;
+        uint16_t servo_resolution_;
+        float resolution_ratio_;
+	bool led_;
+	bool torque_enable_;
+	bool first_get_pos_flag_;
+        float angle_scale_;
+        uint16_t zero_point_offset_;
+
+	void updateHomingOffset() { homing_offset_ = calib_value_ - present_position_;}
+	void setPresentPosition(int32_t present_position) {present_position_ = present_position + internal_offset_;}
+	int32_t getPresentPosition() const {return present_position_;}
+	void setGoalPosition(int32_t goal_position) {goal_position_ = resolution_ratio_ * goal_position - internal_offset_;}
+        int32_t getGoalPosition() const {return goal_position_;}
+        float getAngleScale() const {return angle_scale_;}
+        uint16_t getZeroPointOffset() const {return zero_point_offset_;}
+  
+
+	bool operator==(const ServoData& r) const {return this->id_ == r.id_;}
+};
+
+class DynamixelSerial
+{
+public:
+  DynamixelSerial(){}
+
+  // void init(UART_HandleTypeDef* huart, I2C_HandleTypeDef* hi2c, osMutexId* mutex = NULL);
+  void init(UART_HandleTypeDef* huart,  osMutexId* mutex = NULL);
+  void ping();
+  HAL_StatusTypeDef read(uint8_t* data,  uint32_t timeout);
+  void reboot(uint8_t servo_index);
+  void setTorque(uint8_t servo_index);
+  void setHomingOffset(uint8_t servo_index);
+  void setRoundOffset(uint8_t servo_index, int32_t ref_value);
+  void setPositionGains(uint8_t servo_index);
+  void setProfileVelocity(uint8_t servo_index);
+  void setCurrentLimit(uint8_t servo_index);
+  void update();
+  unsigned int getServoNum() const {return servo_num_;}
+  uint16_t getTTLRS485Mixed() const {return ttl_rs485_mixed_;}
+  void setTTLRS485Mixed(uint16_t flag) {ttl_rs485_mixed_ = flag;}
+  std::array<ServoData, MAX_SERVO_NUM>& getServo() {return servo_;}
+  const std::array<ServoData, MAX_SERVO_NUM>& getServo() const {return servo_;}
+  ServoData& getOneServo(uint8_t id);
+  uint8_t getServoIndex(uint8_t id);
+private:
+  UART_HandleTypeDef* huart_; // uart handlercmdReadPresentPosition
+  osMutexId* mutex_; // for UART (RS485) I/O mutex
+  MagEncoder encoder_handler_;
+  RingBufferDx<std::pair<uint8_t, uint8_t>, 64> instruction_buffer_;
+  unsigned int servo_num_;
+  std::array<ServoData, MAX_SERVO_NUM> servo_;
+  uint16_t ttl_rs485_mixed_;
+  uint32_t set_pos_tick_;
+  uint32_t get_pos_tick_;
+  uint32_t get_load_tick_;
+  uint32_t get_temp_tick_;
+  uint32_t get_move_tick_;
+  uint32_t get_error_tick_;
+
+  /* uart rx */
+  // uint8_t rx_buf_[RX_BUFFER_SIZE];
+  uint32_t rd_ptr_;
+
+  void transmitInstructionPacket(uint8_t id, uint16_t len, uint8_t instruction, uint8_t* parameters);
+  int8_t readStatusPacket(uint8_t status_packet_instruction);
+
+  void cmdPing(uint8_t id);
+  void cmdReboot(uint8_t id);
+  void cmdRead(uint8_t id, uint16_t address, uint16_t byte_size);
+  void cmdWrite(uint8_t id, uint16_t address, uint8_t* param, int param_len);
+  void cmdSyncRead(uint16_t address, uint16_t byte_size, bool send_all);
+  void cmdSyncWrite(uint16_t address, uint8_t* param, int param_len);
+
+  inline void cmdReadCurrentLimit(uint8_t servo_index);
+  inline void cmdReadHardwareErrorStatus(uint8_t servo_index);
+  inline void cmdReadHomingOffset(uint8_t servo_index);
+  inline void cmdReadMoving(uint8_t servo_index);
+  inline void cmdReadPositionGains(uint8_t servo_index);
+  inline void cmdReadPresentCurrent(uint8_t servo_index);
+  inline void cmdReadPresentPosition(uint8_t servo_index);
+  inline void cmdReadPresentTemperature(uint8_t servo_index);
+  inline void cmdReadProfileVelocity(uint8_t servo_index);
+  inline void cmdWriteCurrentLimit(uint8_t servo_index);
+  inline void cmdWriteHomingOffset(uint8_t servo_index);
+  inline void cmdWritePositionGains(uint8_t servo_index);
+  inline void cmdWriteProfileVelocity(uint8_t servo_index);
+  inline void cmdWriteStatusReturnLevel(uint8_t id, uint8_t set);
+  inline void cmdWriteTorqueEnable(uint8_t servo_index);
+  inline void cmdSyncReadCurrentLimit(bool send_all = true);
+  inline void cmdSyncReadHardwareErrorStatus(bool send_all = true);
+  inline void cmdSyncReadHomingOffset(bool send_all = true);
+  inline void cmdSyncReadMoving(bool send_all = true);
+  inline void cmdSyncReadPositionGains(bool send_all = true);
+  inline void cmdSyncReadPresentCurrent(bool send_all = true);
+  inline void cmdSyncReadPresentPosition(bool send_all = true);
+  inline void cmdSyncReadPresentTemperature(bool send_all = true);
+  inline void cmdSyncReadProfileVelocity(bool send_all = true);
+  inline void cmdSyncWriteGoalPosition();
+  inline void cmdSyncWriteLed();
+  inline void cmdSyncWritePositionGains();
+  inline void cmdSyncWriteProfileVelocity();
+  inline void cmdSyncWriteTorqueEnable();
+
+  inline void setStatusReturnLevel();
+  inline void getHomingOffset();
+  inline void getCurrentLimit();
+  inline void getPositionGains();
+  inline void getProfileVelocity();
+
+  uint16_t calcCRC16(uint16_t crc_accum, uint8_t *data_blk_ptr, int data_blk_size);
+};
+
+#endif
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/README.md b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/README.md
new file mode 100644
index 000000000..6d2eb73ae
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/README.md
@@ -0,0 +1,40 @@
+# Spinal: Direct servo control
+## What is this
+This is a universal interface for servo motor drivers.
+## How to use
+### Dynamixel
+#### Setting
+Please follow these steps **in order**.
+##### 1. Connect Spinal and a power source to servo motors.
+##### 2. Reboot Spinal to find and initialize servo motors.
+- Just after this reboot, you can see the LEDs of the servos blink once.
+##### 3. Set basic parameters
+- TTL - RS485 mixed flag
+  - Flag on existence of mixed TTL and RS485 communication within the entire system.
+  - ``rosservice call /direct_servo_config "command: 6 data: [value (0 or 1)]" ``
+- Send data flag
+  - Flag on reading of servo data
+  - ``rosservice call /direct_servo_config "command: 4 data: [servo id, value (0 or 1)]" ``
+- External encoder flag
+  - Flag on the existence of external encoders.
+  - ``rosservice call /direct_servo_config "command: 7 data: [servo id, value (0 or 1)]" ``
+- Servo resolution ratio
+  - The ratio of joint resolution to servo resolution
+  - ``rosservice call /direct_servo_config "command: 8 data: [servo id, value (joint resolution), value (servo resolution)]" ``
+##### 4. Set Control parameters
+- Homing offset
+  - Homing offset of servo position.
+  - Range: -1,044,479 ~ 1,044,479
+  - ``rosservice call /direct_servo_config "command: 1 data: [servo id, value(offset)]" ``
+- PID gains
+  - PID gains for positional control
+  - Range: 0 ~ 16,383
+  - ``rosservice call /direct_servo_config "command: 2 data: [servo id, value(p gain), value(d gain), value(i gain)]" ``
+- Profile velocity
+  - Maximum velocity of servo
+  - Range: 0 ~ 32767 (0 represents infinity)
+  - ``rosservice call /direct_servo_config "command: 3 data: [servo id, value(velocity)]" ``
+- Current limit
+  - Limitation of servo current
+  - Range: 0 ~ 1,193
+  - ``rosservice call /direct_servo_config "command: 5 data: [servo id, value(current)]" ``
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.cpp
new file mode 100644
index 000000000..8a0dda97a
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.cpp
@@ -0,0 +1,290 @@
+/**
+******************************************************************************
+* File Name          : servo.cpp
+* Description        : universal servo control interface for Spinal
+* Author             : J.Sugihara (2024/3/1)
+ ------------------------------------------------------------------*/
+
+
+#include "servo.h"
+
+#define  SERVO_PUB_INTERVAL 20 // 50Hz
+#define SERVO_TORQUE_PUB_INTERVAL  1000 // 1Hz
+
+void DirectServo::init(UART_HandleTypeDef* huart,  ros::NodeHandle* nh, osMutexId* mutex = NULL) //TODO: support encoder
+{
+  nh_ = nh;
+  nh_->subscribe(servo_ctrl_sub_);
+  nh_->subscribe(servo_torque_ctrl_sub_);
+  nh_->subscribe(joint_profiles_sub_);
+  nh_->advertise(servo_state_pub_);
+  nh_->advertise(servo_torque_state_pub_);
+  nh_->advertiseService(servo_config_srv_);
+
+  //temp
+  servo_state_msg_.servos_length = MAX_SERVO_NUM;
+  servo_state_msg_.servos = new spinal::ServoState[MAX_SERVO_NUM];
+  servo_torque_state_msg_.torque_enable_length = MAX_SERVO_NUM;
+  servo_torque_state_msg_.torque_enable = new uint8_t[MAX_SERVO_NUM];
+
+  
+
+  servo_handler_.init(huart, mutex);
+
+  servo_last_pub_time_ = 0;
+  servo_torque_last_pub_time_ = 0;
+}
+
+void DirectServo::update()
+{
+  servo_handler_.update();
+  sendData();
+
+}
+
+void DirectServo::sendData()
+{
+  uint32_t now_time = HAL_GetTick();
+  if( now_time - servo_last_pub_time_ >= SERVO_PUB_INTERVAL)
+    {
+      for (unsigned int i = 0; i < servo_handler_.getServoNum(); i++) {
+        const ServoData& s = servo_handler_.getServo()[i];
+        if (s.send_data_flag_ != 0) {
+          spinal::ServoState servo;
+          servo.index = s.id_;
+          servo.angle = s.present_position_;
+          servo.temp = s.present_temp_;
+          servo.load = s.present_current_;
+          servo.error = s.hardware_error_status_;
+          servo_state_msg_.servos[i] = servo;
+        }
+      }
+      servo_state_pub_.publish(&servo_state_msg_);
+      servo_last_pub_time_ = now_time;
+    }
+}
+
+void DirectServo::torqueEnable(const std::map<uint8_t, float>& servo_map)
+{
+  for (auto servo : servo_map)
+    {
+      JointProf joint_prof = joint_profiles_[servo.first];
+      uint16_t servo_id = joint_prof.servo_id;
+      ServoData& s = servo_handler_.getOneServo(servo_id);
+      uint8_t index = servo_handler_.getServoIndex(servo_id);
+      if(s == servo_handler_.getOneServo(0)){ 
+        nh_->logerror("Invalid Servo ID!");
+        return;
+      }
+
+      if(servo.second && !s.torque_enable_){
+        s.torque_enable_ = true;
+        servo_handler_.setTorque(index);
+      }
+      else if(!servo.second && s.torque_enable_){
+        s.torque_enable_ = false;
+        servo_handler_.setTorque(index);
+      }     
+    }
+}
+
+void DirectServo::setGoalAngle(const std::map<uint8_t, float>& servo_map, uint8_t value_type)
+{
+  for (auto servo : servo_map)
+    {
+      JointProf joint_prof = joint_profiles_[servo.first];
+      int32_t goal_pos;
+      if(value_type = ValueType::BIT){
+        goal_pos = static_cast<int32_t>(servo.second);
+      }else if(value_type = ValueType::RADIAN){
+        goal_pos = static_cast<int32_t>(servo.second*joint_prof.angle_sgn/joint_prof.angle_scale + joint_prof.zero_point_offset);
+      }
+
+      uint16_t servo_id = joint_prof.servo_id;
+      ServoData& s = servo_handler_.getOneServo(servo_id);
+      uint8_t index = servo_handler_.getServoIndex(servo_id);
+      if(s == servo_handler_.getOneServo(0)){ 
+        nh_->logerror("Invalid Servo ID!");
+        return;
+      }
+
+      s.setGoalPosition(goal_pos);
+      if (! s.torque_enable_) {
+        s.torque_enable_ = true;
+        servo_handler_.setTorque(index);
+      }
+      
+    }
+}
+
+void DirectServo::servoControlCallback(const spinal::ServoControlCmd& control_msg)
+{
+  if (control_msg.index_length != control_msg.angles_length) return;
+  for (unsigned int i = 0; i < control_msg.index_length; i++) {
+    ServoData& s = servo_handler_.getOneServo(control_msg.index[i]);
+    uint8_t index = servo_handler_.getServoIndex(control_msg.index[i]);
+    if(s == servo_handler_.getOneServo(0)){ 
+      nh_->logerror("Invalid Servo ID!");
+      return;
+    }
+    int32_t goal_pos = static_cast<int32_t>(control_msg.angles[i]);
+    s.setGoalPosition(goal_pos);
+    if (! s.torque_enable_) {
+      s.torque_enable_ = true;
+      servo_handler_.setTorque(index);
+    }
+  }
+}
+
+void DirectServo::servoTorqueControlCallback(const spinal::ServoTorqueCmd& control_msg)
+{
+  if (control_msg.index_length != control_msg.torque_enable_length) return;
+  for (unsigned int i = 0; i < control_msg.index_length; i++) {
+    ServoData& s = servo_handler_.getOneServo(control_msg.index[i]);
+    uint8_t index = servo_handler_.getServoIndex(control_msg.index[i]);
+    if(s == servo_handler_.getOneServo(0)){ 
+      nh_->logerror("Invalid Servo ID!");
+      return;
+    }
+    s.torque_enable_ = (control_msg.torque_enable[i] != 0) ? true : false;
+    servo_handler_.setTorque(index);
+
+  }
+}
+
+void DirectServo::servoConfigCallback(const spinal::SetDirectServoConfig::Request& req, spinal::SetDirectServoConfig::Response& res)
+{
+
+  uint8_t command = req.command;
+
+  /* special case : data[0] is flag value */
+  if(command == spinal::SetDirectServoConfig::Request::SET_DYNAMIXEL_TTL_RS485_MIXED)
+    {
+      servo_handler_.setTTLRS485Mixed(req.data[0]);
+      FlashMemory::erase();
+      FlashMemory::write();
+      res.success = true;
+      return;
+    }
+
+  uint8_t servo_index = servo_handler_.getServoIndex(req.data[0]);
+  ServoData& s = servo_handler_.getOneServo(req.data[0]);
+  if(s == servo_handler_.getOneServo(0)){ 
+    nh_->logerror("Invalid Servo ID!");
+    return;
+  }
+
+  switch (command) {
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_HOMING_OFFSET:
+    {
+      if(!s.torque_enable_){
+        int32_t calib_value = req.data[1];
+        s.calib_value_ = calib_value;
+        servo_handler_.setHomingOffset(servo_index);
+        res.success = true;
+      }else{
+        nh_->logerror("Cannot set homing offset during torque on state.");
+        res.success = false;
+      }
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_PID_GAIN:
+    {
+      if(!s.torque_enable_){
+        s.p_gain_ = req.data[1];
+        s.i_gain_ = req.data[2];
+        s.d_gain_ = req.data[3];
+        servo_handler_.setPositionGains(servo_index);
+        FlashMemory::erase();
+        FlashMemory::write();
+        res.success = true;
+      }else{
+        nh_->logerror("Cannot set PID gains during torque on state.");
+        res.success = false;
+      }
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_PROFILE_VEL:
+    {
+      s.profile_velocity_ = req.data[1];
+      servo_handler_.setProfileVelocity(servo_index);
+      FlashMemory::erase();
+      FlashMemory::write();
+      res.success = true;
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_SEND_DATA_FLAG:
+    {
+      s.send_data_flag_ = req.data[1];
+      FlashMemory::erase();
+      FlashMemory::write();
+      res.success = true;
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_CURRENT_LIMIT:
+    {
+      s.current_limit_ = req.data[1];
+      servo_handler_.setCurrentLimit(servo_index);
+      res.success = true;
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_EXTERNAL_ENCODER_FLAG:
+    {
+      if(!s.torque_enable_){
+        s.external_encoder_flag_ = req.data[1];
+        s.first_get_pos_flag_ = true;
+        if(!s.external_encoder_flag_)
+          { // if use the servo internal encoder, we directly output the encoder value without scaling by resolution_ratio.
+            s.servo_resolution_ = 1;
+            s.joint_resolution_ = 1;
+            s.resolution_ratio_ = 1;
+          }
+        FlashMemory::erase();
+        FlashMemory::write();
+        res.success = true;
+      }else{
+        nh_->logerror("Cannot set ex encoder falg during torque on state.");
+        res.success = false;
+      }
+      break;
+    }
+  case spinal::SetDirectServoConfig::Request::SET_SERVO_RESOLUTION_RATIO:
+    {
+      if(!s.torque_enable_){
+        s.joint_resolution_ = req.data[1];
+        s.servo_resolution_ = req.data[2];
+        s.hardware_error_status_ &= ((1 << RESOLUTION_RATIO_ERROR) - 1); // 0b00111111: reset
+
+        if(s.servo_resolution_ == 65535 || s.joint_resolution_ == 65535){
+          s.hardware_error_status_ |= (1 << RESOLUTION_RATIO_ERROR);  // 0b01000000;
+          s.resolution_ratio_ = 1;
+        }
+        else{
+          s.resolution_ratio_ = (float)s.servo_resolution_ / (float)s.joint_resolution_;
+          s.first_get_pos_flag_ = true;
+          FlashMemory::erase();
+          FlashMemory::write();
+        }
+        res.success = true;
+      }else{
+        nh_->logerror("Cannot set resolution rate during torque on state.");
+        res.success = false;
+      }
+      
+      break;
+    }
+  default:
+    break;
+  }
+  // res.success = true;
+}
+
+void DirectServo::jointProfilesCallback(const spinal::JointProfiles& joint_prof_msg)
+{
+  for(unsigned int i = 0; i  < joint_prof_msg.joints_length; i++){
+    joint_profiles_[i].servo_id = joint_prof_msg.joints[i].servo_id;
+    joint_profiles_[i].angle_sgn = joint_prof_msg.joints[i].angle_sgn;
+    joint_profiles_[i].angle_scale = joint_prof_msg.joints[i].angle_scale;
+    joint_profiles_[i].zero_point_offset = joint_prof_msg.joints[i].zero_point_offset;
+  }
+}
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.h
new file mode 100644
index 000000000..93f836d1c
--- /dev/null
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/servo/servo.h
@@ -0,0 +1,107 @@
+/**
+******************************************************************************
+* File Name          : servo.h
+* Description        : universal servo control interface for Spinal
+* Author             : J.Sugihara (2024/3/1)
+includes ------------------------------------------------------------------*/
+
+
+#ifndef APPLICATION_SERVO_TEMP_SERVO_H_
+#define APPLICATION_SERVO_TEMP_SERVO_H_
+
+#include "Dynamixel/dynamixel_serial.h"
+#include <ros.h>
+#include <spinal/ServoControlCmd.h>
+#include <spinal/ServoStates.h>
+#include <spinal/ServoTorqueStates.h>
+#include <spinal/ServoTorqueCmd.h>
+#include <spinal/SetDirectServoConfig.h>
+#include <spinal/JointProfiles.h>
+#include <string.h>
+#include <config.h>
+#include <map>
+#include "flashmemory/flashmemory.h"
+
+class Initializer;
+
+namespace ValueType
+{
+  enum
+    {BIT = 0, RADIAN = 1};
+};
+
+class DirectServo
+{
+public:
+  DirectServo():
+    servo_ctrl_sub_("servo/target_states", &DirectServo::servoControlCallback,this),
+    servo_torque_ctrl_sub_("servo/torque_enable", &DirectServo::servoTorqueControlCallback,this),
+    joint_profiles_sub_("joint_profiles", &DirectServo::jointProfilesCallback,this),
+    servo_state_pub_("servo/states", &servo_state_msg_),
+    servo_torque_state_pub_("servo/torque_states", &servo_torque_state_msg_),
+    servo_config_srv_("direct_servo_config", &DirectServo::servoConfigCallback, this)
+  {
+  }
+  ~DirectServo(){}
+
+  void init(UART_HandleTypeDef* huart, ros::NodeHandle* nh, osMutexId* mutex);
+  void update();
+  void sendData();
+  void torqueEnable(const std::map<uint8_t, float>& servo_map);
+  void setGoalAngle(const std::map<uint8_t, float>& servo_map, uint8_t value_type = 0);
+
+  uint32_t rad2Pos(float angle, float scale, uint32_t zero_point_pos){
+    return static_cast<uint32_t>(angle /scale + zero_point_pos);
+  }
+
+private:
+  /* ROS */
+  ros::NodeHandle* nh_;
+  ros::Subscriber<spinal::ServoControlCmd, DirectServo> servo_ctrl_sub_;
+  ros::Subscriber<spinal::ServoTorqueCmd, DirectServo> servo_torque_ctrl_sub_;
+  ros::Subscriber<spinal::JointProfiles, DirectServo> joint_profiles_sub_;
+  ros::Publisher servo_state_pub_;
+  ros::Publisher servo_torque_state_pub_;
+
+  ros::ServiceServer<spinal::SetDirectServoConfig::Request, spinal::SetDirectServoConfig::Response, DirectServo> servo_config_srv_;
+
+  spinal::ServoStates servo_state_msg_;
+  spinal::ServoTorqueStates servo_torque_state_msg_;
+
+  uint32_t servo_last_pub_time_;
+  uint32_t servo_torque_last_pub_time_;
+
+  void servoControlCallback(const spinal::ServoControlCmd& control_msg);
+  void servoTorqueControlCallback(const spinal::ServoTorqueCmd& control_msg);
+  void jointProfilesCallback(const spinal::JointProfiles& joint_prof_msg);
+  
+  void servoConfigCallback(const spinal::SetDirectServoConfig::Request& req, spinal::SetDirectServoConfig::Response& res);
+  
+  /* Servo state */
+  struct ServoState{
+    int16_t angle;
+    uint8_t temperature;
+    uint8_t moving;
+    int16_t current;
+    uint8_t error;
+    ServoState(uint16_t angle, uint8_t temperature, uint8_t moving, int16_t current, uint8_t error)
+      :angle(angle), temperature(temperature), moving(moving), current(current), error(error){}
+  };
+
+  struct JointProf{
+    uint8_t servo_id;
+    int8_t angle_sgn;
+    float angle_scale;
+    int16_t zero_point_offset;
+  };
+
+  JointProf joint_profiles_[MAX_SERVO_NUM];
+
+    
+
+  DynamixelSerial servo_handler_;
+  friend class Initializer;
+};
+
+
+#endif /* APPLICATION_SERVO_SERVO_H_ */
diff --git a/aerial_robot_nerve/spinal/msg/JointProfile.msg b/aerial_robot_nerve/spinal/msg/JointProfile.msg
new file mode 100644
index 000000000..c59319497
--- /dev/null
+++ b/aerial_robot_nerve/spinal/msg/JointProfile.msg
@@ -0,0 +1,9 @@
+uint8 JOINT = 0
+uint8 GIMBAL = 1
+
+uint8 type
+uint8 servo_id
+
+int8 angle_sgn
+float32 angle_scale
+int16 zero_point_offset
diff --git a/aerial_robot_nerve/spinal/msg/JointProfiles.msg b/aerial_robot_nerve/spinal/msg/JointProfiles.msg
new file mode 100644
index 000000000..23ee0a752
--- /dev/null
+++ b/aerial_robot_nerve/spinal/msg/JointProfiles.msg
@@ -0,0 +1 @@
+spinal/JointProfile[] joints
diff --git a/aerial_robot_nerve/spinal/srv/SetDirectServoConfig.srv b/aerial_robot_nerve/spinal/srv/SetDirectServoConfig.srv
new file mode 100644
index 000000000..1b9710510
--- /dev/null
+++ b/aerial_robot_nerve/spinal/srv/SetDirectServoConfig.srv
@@ -0,0 +1,25 @@
+#commands
+## servo_index is from 0
+uint8 SET_SERVO_HOMING_OFFSET = 1
+# [servo_index, joint_offset] !torque disable!
+uint8 SET_SERVO_PID_GAIN = 2
+# [servo_index, p_gain, i_gain, d_gain]
+uint8 SET_SERVO_PROFILE_VEL = 3
+# [servo_index, profile_vel]
+uint8 SET_SERVO_SEND_DATA_FLAG = 4
+# [servo_index, flag]
+uint8 SET_SERVO_CURRENT_LIMIT = 5
+# [servo_index, current_limit] !torque disable!
+uint8 SET_DYNAMIXEL_TTL_RS485_MIXED = 6
+# [flag]
+uint8 SET_SERVO_EXTERNAL_ENCODER_FLAG = 7
+# [servo_index, flag]
+uint8 SET_SERVO_RESOLUTION_RATIO = 8
+# [servo_index, joint_resolution, servo_resolution]
+
+
+uint8 command
+int32[] data
+---
+bool success
+float32[] data 
diff --git a/aerial_robot_noetic.rosinstall b/aerial_robot_noetic.rosinstall
index 9445e1aaa..bd5dbf534 100644
--- a/aerial_robot_noetic.rosinstall
+++ b/aerial_robot_noetic.rosinstall
@@ -2,7 +2,7 @@
 - git:
     local-name: aerial_robot_3rdparty
     uri: https://github.com/JSKAerialRobot/aerial_robot_3rdparty.git
-    version: fb963df
+    version: b10f5bf
 
 # kalman filter
 - git:
@@ -31,6 +31,20 @@
     uri: https://github.com/tongtybj/rosserial.git
     version: rosservice_server
 
+# livox ros driver
+# modification for quick build of ROS1 version
+- git:
+    local-name: livox_ros_driver2
+    uri: https://github.com/tongtybj/livox_ros_driver2.git
+    version: PR/ros1
+
+# fast lio
+# modification for fast odometry based on EKF
+- git:
+    local-name: fast_lio
+    uri: https://github.com/tongtybj/FAST_LIO
+    version: PR/odometry
+
 # realsense
 #- git:
 #    local-name: realsense-ros
diff --git a/aerial_robot_simulation/CMakeLists.txt b/aerial_robot_simulation/CMakeLists.txt
index 0a95c889e..f1870dbab 100644
--- a/aerial_robot_simulation/CMakeLists.txt
+++ b/aerial_robot_simulation/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(aerial_robot_simulation)
 
-add_compile_options(-std=c++11 ${GAZEBO_CXX_FLAGS})
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_base
diff --git a/robots/dragon/CMakeLists.txt b/robots/dragon/CMakeLists.txt
index f1b7a2550..ddfa2b1f2 100644
--- a/robots/dragon/CMakeLists.txt
+++ b/robots/dragon/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(dragon)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_control
diff --git a/robots/dragon/config/quad/NavigationConfig.yaml b/robots/dragon/config/quad/NavigationConfig.yaml
index e8b75093f..87f018e02 100644
--- a/robots/dragon/config/quad/NavigationConfig.yaml
+++ b/robots/dragon/config/quad/NavigationConfig.yaml
@@ -31,3 +31,8 @@ navigation:
   # desire tilt
   baselink_rot_pub_interval: 0.2
   baselink_rot_change_thresh: 0.04 # 0.2 hz -> 0.04; 0.01 hz-> 0.02
+
+  # trajectory
+  trajectory_min_du: 2.0
+  trajectory_mean_yaw_rate: 0.6
+  enable_latch_yaw_trajectory: false
diff --git a/robots/dragon/config/rviz_config b/robots/dragon/config/rviz_config
index 8aa2639be..253279489 100644
--- a/robots/dragon/config/rviz_config
+++ b/robots/dragon/config/rviz_config
@@ -8,9 +8,9 @@ Panels:
         - /Status1
         - /TF1
         - /RobotModel1
-        - /RobotModel1/Status1
+        - /Path1
       Splitter Ratio: 0.5
-    Tree Height: 1267
+    Tree Height: 728
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,7 +19,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -30,6 +30,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -41,7 +43,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -120,7 +122,7 @@ Visualization Manager:
           Value: true
         world:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Scale: 0.30000001192092896
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -183,12 +185,166 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        edf1_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf1_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf2_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf2_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf3_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf3_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf4_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        edf4_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        fc:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        gimbal1_pitch_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal1_roll_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal2_pitch_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal2_roll_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal3_pitch_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal3_roll_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal4_pitch_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gimbal4_roll_module:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inter_joint1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inter_joint2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inter_joint3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        root:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        thrust1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        thrust2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        thrust3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        thrust4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Name: RobotModel
       Robot Description: dragon/robot_description
       TF Prefix: dragon
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /dragon/trajectory
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -204,7 +360,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -213,34 +372,29 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 3.51586962
+      Angle: 0.004999999888241291
+      Class: rviz/TopDownOrtho
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Focal Point:
-        X: 0.0168172438
-        Y: 0.379900962
-        Z: -0.397888541
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.684796929
+      Near Clip Distance: 0.009999999776482582
+      Scale: 209.4122772216797
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.80540204
+      Value: TopDownOrtho (rviz)
+      X: 0.8380727767944336
+      Y: -0.17005863785743713
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1548
+  Height: 1025
   Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000582fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000582000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000582fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000582000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e00000003efc0100000002fb0000000800540069006d00650100000000000004e00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000025b0000058200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000039f0000003efc0100000002fb0000000800540069006d006501000000000000039f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000022f0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -248,7 +402,7 @@ Window Geometry:
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
-  Width: 1248
-  X: 957
-  Y: 24
+    collapsed: true
+  Width: 927
+  X: 67
+  Y: 27
diff --git a/robots/gimbalrotor/CMakeLists.txt b/robots/gimbalrotor/CMakeLists.txt
index 5e02ba3d1..312e491bb 100644
--- a/robots/gimbalrotor/CMakeLists.txt
+++ b/robots/gimbalrotor/CMakeLists.txt
@@ -1,13 +1,14 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(gimbalrotor)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   aerial_robot_control
   aerial_robot_estimation
   aerial_robot_model
   aerial_robot_msgs
+  spinal
   pluginlib
   roscpp
   )
diff --git a/robots/gimbalrotor/config/MotorInfo.yaml b/robots/gimbalrotor/config/MotorInfo.yaml
index 61a7e377f..8030be753 100644
--- a/robots/gimbalrotor/config/MotorInfo.yaml
+++ b/robots/gimbalrotor/config/MotorInfo.yaml
@@ -1,32 +1,45 @@
 motor_info:
-        min_pwm: 0.59 # 1180 [ms]
-        max_pwm: 0.9375 # 1875 [ms]
-        min_thrust: 1.0 #  [N]
-        force_landing_thrust: 6.5 #[N]
-        m_f_rate: -0.0172
-        pwm_conversion_mode: 0 # SQRT Mode
+        min_pwm: 0.58 # = 1800 [ms]
+        max_pwm: 0.92 #0.92 # = 1840 [ms]             
+        min_thrust: 0 #[N]
+        force_landing_thrust: 7 #[N]
+        m_f_rate: 0 # should be zero, because of the dual rotor
+        pwm_conversion_mode: 1 # Polynominal Mode
         vel_ref_num: 4
-        ref1:
+        
+        ref1:        
                 voltage: 25.2
-                max_thrust: 20 # N 
-                polynominal2: 0.07983707 # x10
-                polynominal1: -6.627443098 # x10
-                polynominal0: 12.3593793002 # x1
+                max_thrust: 24.26 #20.26
+                polynominal4: 2.539831 # x 10^4
+                polynominal3: -15.430486 # x10^3
+                polynominal2: 26.10449153 # x10^2
+                polynominal1: 8.542191758 # x10
+                polynominal0: 53.26142529 # x1
         ref2:
                 voltage: 24.2
-                max_thrust: 19 # N 
-                polynominal2: 0.078085358 # x10
-                polynominal1: -6.641338225 # x10
-                polynominal0: 12.9797798522 # x1
-        ref3:
+                max_thrust: 22.07 #18.07
+                polynominal4: 4.471272 # x 10^4
+                polynominal3: -22.8613135 # x10^3
+                polynominal2: 34.52944303 # x10^2
+                polynominal1: 6.990587655 # x10
+                polynominal0: 53.55660546 # x1
+        ref3:        
                 voltage: 23.2
-                max_thrust: 18 # N 
-                polynominal2: 0.074527175 # x10
-                polynominal1: -6.440853637 # x10
-                polynominal0: 12.9565178437 # x1
-        ref4:
+                max_thrust: 21.35 #17.35
+                polynominal4: 3.89786 # x 10^4
+                polynominal3: -21.7499721 # x10^3
+                polynominal2: 33.08787072 # x10^2
+                polynominal1: 10.11759403 # x10
+                polynominal0: 53.3154616 # x1
+        ref4:        
                 voltage: 22.2
-                max_thrust: 16.8 # N 
-                polynominal2: 0.071758366 # x10
-                polynominal1: -6.346135548 # x10
-                polynominal0: 13.2669467083 # x1
+                max_thrust: 19.91 #15.91
+                polynominal4: 2.940051 # x 10^4
+                polynominal3: -19.6361097 # x10^3
+                polynominal2: 30.85354129 # x10^2
+                polynominal1: 13.24809567 # x10
+                polynominal0: 53.05019009 # x1
+
+        # for simualtion
+        rotor_damping_rate: 0.1 # = 0.001 / (0.01 + 0.001); 0.01: time constant; 0.001: dt
+        rotor_force_noise: 0.01 # [N] but good performance in gazebo
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/NavigationConfig.yaml b/robots/gimbalrotor/config/NavigationConfig.yaml
index 458112b44..22f63f1ce 100644
--- a/robots/gimbalrotor/config/NavigationConfig.yaml
+++ b/robots/gimbalrotor/config/NavigationConfig.yaml
@@ -19,8 +19,8 @@ navigation:
   teleop_local_frame: fc
 
   cmd_vel_lev2_gain : 2.0
-  nav_vel_limit : 0.2
-  vel_nav_threshold : 0.01
+  # nav_vel_limit : 0.2
+  # vel_nav_threshold : 0.01
 
   gain_tunning_mode: 0
   max_target_tilt_angle: 0.2
diff --git a/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml
new file mode 100644
index 000000000..9be92c807
--- /dev/null
+++ b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl.yaml
@@ -0,0 +1,50 @@
+aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller
+
+controller:
+  torque_allocation_matrix_inv_pub_interval: 0.05
+  wrench_allocation_matrix_pub_interval: 0.1
+  gimbal_calc_in_fc : true
+  gimbal_dof : 2
+
+  xy:
+    p_gain: 7.0
+    i_gain: 0.1
+    d_gain: 3.5
+    limit_sum: 4.0
+    limit_p: 12.0
+    limit_i: 12.0
+    limit_d: 12.0
+
+  z:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 2.5
+    limit_err_p: 1.0
+    limit_sum: 25.0 # N for clamping thrust force
+    limit_p: 25.0
+    limit_i: 25.0
+    limit_d: 25.0
+    force_landing_descending_rate: -0.5
+
+  roll_pitch:
+    p_gain: 30.0
+    i_gain: 1.0
+    d_gain: 14.0
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    start_rp_integration_height: 0.01
+
+  yaw:
+    p_gain: 10.0
+    i_gain: 1.0
+    d_gain: 3.0
+    limit_err_p: 0.4
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    need_d_control: true
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/dragonfly/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl_sim.yaml
new file mode 100644
index 000000000..11e13e3fd
--- /dev/null
+++ b/robots/gimbalrotor/config/dragonfly/GimbalrotorControl_sim.yaml
@@ -0,0 +1,50 @@
+aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller
+
+controller:
+  torque_allocation_matrix_inv_pub_interval: 0.05
+  wrench_allocation_matrix_pub_interval: 0.1
+  gimbal_calc_in_fc : true
+  gimbal_dof : 2
+
+  xy:
+    p_gain: 3.0
+    i_gain: 0.05
+    d_gain: 1.5
+    limit_sum: 4.0
+    limit_p: 12.0
+    limit_i: 12.0
+    limit_d: 12.0
+
+  z:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 2.5
+    limit_err_p: 1.0
+    limit_sum: 25.0 # N for clamping thrust force
+    limit_p: 25.0
+    limit_i: 25.0
+    limit_d: 25.0
+    force_landing_descending_rate: -0.5
+
+  roll_pitch:
+    p_gain: 22.0
+    i_gain: 1.0
+    d_gain: 14.0
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    start_rp_integration_height: 0.01
+
+  yaw:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 4.0
+    limit_err_p: 0.4
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    need_d_control: true
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/dragonfly/Servo.yaml b/robots/gimbalrotor/config/dragonfly/Servo.yaml
new file mode 100644
index 000000000..1ad1bcac9
--- /dev/null
+++ b/robots/gimbalrotor/config/dragonfly/Servo.yaml
@@ -0,0 +1,72 @@
+servo_controller:
+  state_sub_topic: servo/states
+  ctrl_pub_topic: servo/target_states
+  torque_pub_topic: servo/torque_enable
+
+  joints:
+    angle_sgn: 1
+    angle_scale: 0.00076699
+    zero_point_offset: 2047
+    torque_scale: 1.0 # TODO please update the scale
+
+    filter_flag: true
+    sample_freq: 50.0 # 50Hz
+    cutoff_freq: 10.0 # 10Hz, test
+
+    controller1:
+      id: 7
+      name: head_joint
+      angle_sgn: -1
+      simulation:
+        pid: {p: 20.0, i: 0.1, d: 1.0}
+        init_value: 0
+        type: effort_controllers/JointPositionController
+
+    controller2:
+      id: 8
+      name: tail_joint
+      angle_sgn: -1
+      simulation:
+        pid: {p: 20.0, i: 0.1, d: 1.0}
+        init_value: 0
+        type: effort_controllers/JointPositionController
+
+  gimbals:
+    no_real_state: false
+    angle_scale: 0.001534
+    zero_point_offset: 2047
+
+    simulation:
+      pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0}
+      init_value: 0
+      type: effort_controllers/JointPositionController
+
+    controller1:
+      id: 1
+      angle_sgn: 1
+      name: gimbal1_roll
+
+    controller2:
+      id: 2
+      angle_sgn: 1      
+      name: gimbal1_pitch
+
+    controller3:
+      id: 3
+      angle_sgn: 1      
+      name: gimbal2_roll
+
+    controller4:
+      id: 4
+      angle_sgn: -1      
+      name: gimbal2_pitch
+
+    controller5:
+      id: 5
+      angle_sgn: 1      
+      name: gimbal3_roll
+
+    controller6:
+      id: 6
+      angle_sgn: -1      
+      name: gimbal3_pitch
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml
index 362eeb6ac..4c871ce36 100644
--- a/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml
+++ b/robots/gimbalrotor/config/quad/GimbalrotorControl_sim.yaml
@@ -3,7 +3,7 @@ aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller
 controller:
   torque_allocation_matrix_inv_pub_interval: 0.05
   wrench_allocation_matrix_pub_interval: 0.1
-  gimbal_calc_in_fc : true
+  gimbal_calc_in_fc : false
   controlled_axis: [1, 1, 1, 1, 1, 1]
 
   xy:
diff --git a/robots/gimbalrotor/config/tri_omni/GimbalrotorControl.yaml b/robots/gimbalrotor/config/tri_omni/GimbalrotorControl.yaml
new file mode 100644
index 000000000..253e5123b
--- /dev/null
+++ b/robots/gimbalrotor/config/tri_omni/GimbalrotorControl.yaml
@@ -0,0 +1,49 @@
+aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller
+
+controller:
+  torque_allocation_matrix_inv_pub_interval: 0.05
+  wrench_allocation_matrix_pub_interval: 0.1
+  gimbal_calc_in_fc : true
+
+  xy:
+    p_gain: 6.0
+    i_gain: 0.05
+    d_gain: 1.5
+    limit_sum: 4.0
+    limit_p: 12.0
+    limit_i: 12.0
+    limit_d: 12.0
+
+  z:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 2.5
+    limit_err_p: 1.0
+    limit_sum: 25.0 # N for clamping thrust force
+    limit_p: 25.0
+    limit_i: 25.0
+    limit_d: 25.0
+    force_landing_descending_rate: -0.5
+
+  roll_pitch:
+    p_gain: 30.0
+    i_gain: 5.0
+    d_gain: 14.0
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    start_rp_integration_height: 0.01
+
+  yaw:
+    p_gain: 8.0
+    i_gain: 1.0
+    d_gain: 4.0
+    limit_err_p: 0.4
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    need_d_control: true
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/tri_omni/GimbalrotorControl_sim.yaml b/robots/gimbalrotor/config/tri_omni/GimbalrotorControl_sim.yaml
new file mode 100644
index 000000000..11e13e3fd
--- /dev/null
+++ b/robots/gimbalrotor/config/tri_omni/GimbalrotorControl_sim.yaml
@@ -0,0 +1,50 @@
+aerial_robot_control_name: aerial_robot_control/gimbalrotor_controller
+
+controller:
+  torque_allocation_matrix_inv_pub_interval: 0.05
+  wrench_allocation_matrix_pub_interval: 0.1
+  gimbal_calc_in_fc : true
+  gimbal_dof : 2
+
+  xy:
+    p_gain: 3.0
+    i_gain: 0.05
+    d_gain: 1.5
+    limit_sum: 4.0
+    limit_p: 12.0
+    limit_i: 12.0
+    limit_d: 12.0
+
+  z:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 2.5
+    limit_err_p: 1.0
+    limit_sum: 25.0 # N for clamping thrust force
+    limit_p: 25.0
+    limit_i: 25.0
+    limit_d: 25.0
+    force_landing_descending_rate: -0.5
+
+  roll_pitch:
+    p_gain: 22.0
+    i_gain: 1.0
+    d_gain: 14.0
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    start_rp_integration_height: 0.01
+
+  yaw:
+    p_gain: 5.0
+    i_gain: 1.0
+    d_gain: 4.0
+    limit_err_p: 0.4
+    limit_sum: 20.0
+    limit_p: 20.0
+    limit_i: 20.0
+    limit_d: 20.0
+
+    need_d_control: true
\ No newline at end of file
diff --git a/robots/gimbalrotor/config/tri_omni/Servo.yaml b/robots/gimbalrotor/config/tri_omni/Servo.yaml
new file mode 100644
index 000000000..37b28c69c
--- /dev/null
+++ b/robots/gimbalrotor/config/tri_omni/Servo.yaml
@@ -0,0 +1,36 @@
+servo_controller:
+  gimbals:
+    ctrl_pub_topic: servo/target_states
+    torque_pub_topic: servo/torque_enable
+    angle_sgn: -1
+    angle_scale: 0.001534
+    zero_point_offset: 2047
+
+    simulation:
+      pid: {p: 5.0, i: 0.1, d: 0.1, i_clamp_max: 2.0, i_clamp_min: -2.0}
+      init_value: 0
+      type: effort_controllers/JointPositionController
+
+    controller1:
+      id: 1
+      name: gimbal1_roll
+
+    controller2:
+      id: 2
+      name: gimbal1_pitch
+
+    controller3:
+      id: 3
+      name: gimbal2_roll
+
+    controller4:
+      id: 4
+      name: gimbal2_pitch
+
+    controller5:
+      id: 5
+      name: gimbal3_roll
+
+    controller6:
+      id: 6
+      name: gimbal3_pitch
\ No newline at end of file
diff --git a/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h b/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h
index bc1f62922..56cbae731 100644
--- a/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h
+++ b/robots/gimbalrotor/include/gimbalrotor/control/gimbalrotor_controller.h
@@ -46,6 +46,7 @@ namespace aerial_robot_control
     Eigen::MatrixXd integrated_map_inv_rot_;
     double candidate_yaw_term_;
     int gimbal_dof_;
+    int rotor_coef_;
     bool gimbal_calc_in_fc_;
     std::vector<int> controlled_axis_;
     int control_dof_;
diff --git a/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
index 3d26c066c..5d78b742b 100644
--- a/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
+++ b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
@@ -27,6 +27,8 @@ namespace aerial_robot_navigation
     void baselinkRotationProcess();
     void rosParamInit() override;
     void setFinalTargetBaselinkRotCallback(const spinal::DesireCoordConstPtr & msg);
+    void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg) override;
+
 
     /* target baselink rotation */
     double prev_rotation_stamp_;
diff --git a/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h b/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h
index ad61806c9..0facc7559 100644
--- a/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h
+++ b/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h
@@ -6,7 +6,7 @@
 
 using namespace aerial_robot_model;
 
-class GimbalrotorRobotModel : public aerial_robot_model::RobotModel{
+class GimbalrotorRobotModel : public transformable::RobotModel{
 public:
   GimbalrotorRobotModel(bool init_with_rosparam = true,
                     bool verbose = false,
diff --git a/robots/gimbalrotor/package.xml b/robots/gimbalrotor/package.xml
index fe1e1a816..751f7acb1 100644
--- a/robots/gimbalrotor/package.xml
+++ b/robots/gimbalrotor/package.xml
@@ -14,6 +14,7 @@
   <build_depend>aerial_robot_estimation</build_depend>
   <build_depend>aerial_robot_model</build_depend>
   <build_depend>aerial_robot_msgs</build_depend>
+  <build_depend>spinal</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>pluginlib</build_depend>
 
@@ -23,6 +24,7 @@
   <run_depend>aerial_robot_msgs</run_depend>
   <run_depend>aerial_robot_simulation</run_depend>
   <run_depend>aerial_robot_base</run_depend>
+  <run_depend>spinal</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>pluginlib</run_depend>
 
diff --git a/robots/gimbalrotor/robots/dragonfly/gimbalrotor.gazebo.xacro b/robots/gimbalrotor/robots/dragonfly/gimbalrotor.gazebo.xacro
new file mode 100644
index 000000000..51b3448c8
--- /dev/null
+++ b/robots/gimbalrotor/robots/dragonfly/gimbalrotor.gazebo.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor" >
+  <xacro:arg name="robot_name" default="gimbalrotor" />
+
+  <xacro:include filename="$(find gimbalrotor)/robots/dragonfly/gimbalrotor.urdf.xacro" />
+
+  <!-- gazebo plugin for default controller and sensors -->
+  <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />
+  <xacro:gazebo_spinal robot_name="$(arg robot_name)" mag_frame="fc" />
+
+</robot>
diff --git a/robots/gimbalrotor/robots/dragonfly/gimbalrotor.urdf.xacro b/robots/gimbalrotor/robots/dragonfly/gimbalrotor.urdf.xacro
new file mode 100644
index 000000000..1b60c3a32
--- /dev/null
+++ b/robots/gimbalrotor/robots/dragonfly/gimbalrotor.urdf.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor" >
+
+  <xacro:include filename="$(find gimbalrotor)/urdf/dragonfly/gimbalrotor.urdf.xacro" />
+  <xacro:include filename="$(find gimbalrotor)/urdf/dragonfly/common.xacro" />
+
+  <xacro:gimbalrotor_center_link child1="1" child2="2" child3="3"/>
+  <xacro:gimbalrotor_gimbal_link self="1" rotor_direction="1"/>
+  <xacro:gimbalrotor_gimbal_link self="2" rotor_direction="-1"/>
+  <xacro:gimbalrotor_gimbal_link self="3" rotor_direction="-1"/>
+  <xacro:gimbalrotor_head_link/>
+  <xacro:gimbalrotor_tail_link/>
+
+</robot>
diff --git a/robots/gimbalrotor/robots/tri_omni/gimbalrotor.gazebo.xacro b/robots/gimbalrotor/robots/tri_omni/gimbalrotor.gazebo.xacro
new file mode 100644
index 000000000..36bcb167b
--- /dev/null
+++ b/robots/gimbalrotor/robots/tri_omni/gimbalrotor.gazebo.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor" >
+  <xacro:arg name="robot_name" default="gimbalrotor" />
+
+  <xacro:include filename="$(find gimbalrotor)/robots/tri_omni/gimbalrotor.urdf.xacro" />
+
+  <!-- gazebo plugin for default controller and sensors -->
+  <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />
+  <xacro:gazebo_spinal robot_name="$(arg robot_name)" mag_frame="fc" />
+
+</robot>
diff --git a/robots/gimbalrotor/robots/tri_omni/gimbalrotor.urdf.xacro b/robots/gimbalrotor/robots/tri_omni/gimbalrotor.urdf.xacro
new file mode 100644
index 000000000..2c6a32db2
--- /dev/null
+++ b/robots/gimbalrotor/robots/tri_omni/gimbalrotor.urdf.xacro
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor" >
+
+  <xacro:include filename="$(find gimbalrotor)/urdf/tri_omni/gimbalrotor.urdf.xacro" />
+  <xacro:include filename="$(find gimbalrotor)/urdf/tri_omni/common.xacro" />
+
+  <xacro:gimbalrotor_center_link child1="1" child2="2" child3="3"/>
+  <xacro:gimbalrotor_thrust_link self="1" rotor_direction="1"/>
+  <xacro:gimbalrotor_thrust_link self="2" rotor_direction="-1"/>
+  <xacro:gimbalrotor_thrust_link self="3" rotor_direction="1"/>
+
+</robot>
diff --git a/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp b/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp
index 72fa1e31d..3caad6587 100644
--- a/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp
+++ b/robots/gimbalrotor/src/control/gimbalrotor_controller.cpp
@@ -19,12 +19,14 @@ namespace aerial_robot_control
     PoseLinearController::initialize(nh, nhp, robot_model, estimator, navigator, ctrl_loop_rate);
     gimbalrotor_robot_model_ = boost::dynamic_pointer_cast<GimbalrotorRobotModel>(robot_model);
 
-    target_base_thrust_.resize(motor_num_ * 2);
-    target_full_thrust_.resize(motor_num_);
-    target_gimbal_angles_.resize(motor_num_, 0);
-
     GimbalrotorController::rosParamInit();
 
+    rotor_coef_ = gimbal_dof_ + 1; //number of virtual rotors in each rotor arm
+
+    target_base_thrust_.resize(motor_num_ * rotor_coef_);
+    target_full_thrust_.resize(motor_num_);
+    target_gimbal_angles_.resize(motor_num_ * gimbal_dof_, 0);
+
     flight_cmd_pub_ = nh_.advertise<spinal::FourAxisCommand>("four_axes/command", 1);
     gimbal_control_pub_ = nh_.advertise<sensor_msgs::JointState>("gimbals_ctrl", 1);
     gimbal_state_pub_ = nh_.advertise<sensor_msgs::JointState>("joint_states", 1);
@@ -71,7 +73,6 @@ namespace aerial_robot_control
   void GimbalrotorController::controlCore()
   {
     PoseLinearController::controlCore();
-
     tf::Matrix3x3 uav_rot = estimator_->getOrientation(Frame::COG, estimate_mode_);
     tf::Vector3 target_acc_w(pid_controllers_.at(X).result(),
                              pid_controllers_.at(Y).result(),
@@ -86,7 +87,15 @@ namespace aerial_robot_control
     double target_ang_acc_x = pid_controllers_.at(ROLL).result();
     double target_ang_acc_y = pid_controllers_.at(PITCH).result();
     double target_ang_acc_z = pid_controllers_.at(YAW).result();
-    target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, target_ang_acc_z);
+    Eigen::Matrix3d inertia = gimbalrotor_robot_model_->getInertia<Eigen::Matrix3d>();
+    Eigen::Vector3d omega;
+    tf::vectorTFToEigen(omega_, omega);
+    Eigen::Vector3d gyro = omega.cross(inertia * omega);
+
+    if(gimbal_calc_in_fc_)
+      target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, target_ang_acc_z);
+    else
+      target_wrench_acc_cog.tail(3) = Eigen::Vector3d(target_ang_acc_x, target_ang_acc_y, target_ang_acc_z) + gyro;
 
     pid_msg_.roll.total.at(0) = target_ang_acc_x;
     pid_msg_.roll.p_term.at(0) = pid_controllers_.at(ROLL).getPTerm();
@@ -109,13 +118,11 @@ namespace aerial_robot_control
 
     double mass_inv = 1 / gimbalrotor_robot_model_->getMass();
 
-    Eigen::Matrix3d inertia_inv = (gimbalrotor_robot_model_->getInertia<Eigen::Matrix3d>()).inverse();
-
-    double t = ros::Time::now().toSec();
+    Eigen::Matrix3d inertia_inv = inertia.inverse();
 
     std::vector<Eigen::Vector3d> rotors_origin_from_cog = gimbalrotor_robot_model_->getRotorsOriginFromCog<Eigen::Vector3d>();
-    std::map<int, int> rotor_direction = robot_model_->getRotorDirection();
-    double m_f_rate = robot_model_->getMFRate();
+    const auto& rotor_direction = gimbalrotor_robot_model_->getRotorDirection();
+    const double m_f_rate = gimbalrotor_robot_model_->getMFRate();
 
     Eigen::MatrixXd wrench_map = Eigen::MatrixXd::Zero(6, 3);
     wrench_map.block(0, 0, 3, 3) =  Eigen::MatrixXd::Identity(3, 3);
@@ -123,7 +130,7 @@ namespace aerial_robot_control
 
     /* calculate normal allocation */
     for(int i = 0; i < motor_num_; i++){
-      wrench_map.block(3, 0, 3, 3) = aerial_robot_model::skew(rotors_origin_from_cog.at(i)) + rotor_direction.at(i + 1) * m_f_rate * Eigen::MatrixXd::Identity(3, 3);
+      wrench_map.block(3, 0, 3, 3) = aerial_robot_model::skew(rotors_origin_from_cog.at(i))  + m_f_rate * rotor_direction.at(i + 1) * Eigen::Matrix3d::Identity();
       full_q_mat.middleCols(last_col, 3) = wrench_map;
       last_col += 3;
     }
@@ -137,16 +144,24 @@ namespace aerial_robot_control
     for(int i = 0; i < motor_num_; i++){
       tf::Quaternion r;  tf::quaternionKDLToTF(thrust_coords_rot.at(i), r);
       Eigen::Matrix3d conv_cog_from_thrust; tf::matrixTFToEigen(tf::Matrix3x3(r),conv_cog_from_thrust);
-      Eigen::MatrixXd mask(3, 2);
-      mask << 0, 0, 1, 0, 0, 1;
-      masked_rot.push_back(conv_cog_from_thrust * mask);
+      if(gimbal_dof_ == 1)
+        {
+          Eigen::MatrixXd mask(3, 2);
+          mask << 0, 0, 1, 0, 0, 1;
+          masked_rot.push_back(conv_cog_from_thrust * mask);
+        }
+      else if(gimbal_dof_ == 2)
+        {
+          Eigen::MatrixXd mask = Eigen::Matrix3d::Identity();
+          masked_rot.push_back(conv_cog_from_thrust * mask);
+        }
     }
 
-    /* calculate integrated allocation */
-    Eigen::MatrixXd integrated_rot = Eigen::MatrixXd::Zero(3*motor_num_, 2 * motor_num_);
-    Eigen::MatrixXd integrated_map = Eigen::MatrixXd::Zero(6, 2 * motor_num_);
+    /* mask integrated allocation */
+    Eigen::MatrixXd integrated_rot = Eigen::MatrixXd::Zero(3 * motor_num_, rotor_coef_ * motor_num_);
+    Eigen::MatrixXd integrated_map = Eigen::MatrixXd::Zero(6, (gimbal_dof_ + 1) * motor_num_);
     for(int i = 0; i< motor_num_; i++){
-      integrated_rot.block(3*i,2*i,3,2) = masked_rot[i];
+      integrated_rot.block(3*i, rotor_coef_*i, 3, rotor_coef_) = masked_rot[i];
     }
     integrated_map = full_q_mat * integrated_rot;
 
@@ -195,22 +210,40 @@ namespace aerial_robot_control
     /*  calculate target base thrust (considering only translational components)*/
     double max_yaw_scale = 0; // for reconstruct yaw control term in spinal
     for(int i = 0; i < motor_num_; i++){
-      Eigen::VectorXd f_i = target_vectoring_f_trans_.segment(last_col, 2);
-      target_base_thrust_.at(2*i) = f_i[0];
-      target_base_thrust_.at(2*i+1) = f_i[1];
-      // target_gimbal_angles_.at(i) = atan2(-f_i[0], f_i[1]);
-      if(integrated_map_inv(i, control_dof_ - 1) > max_yaw_scale) max_yaw_scale = integrated_map_inv(i, control_dof_ - 1);
-      last_col += 2;
+      Eigen::VectorXd f_i = target_vectoring_f_trans_.segment(last_col, rotor_coef_);
+      if(gimbal_dof_ == 1)
+        {
+          target_base_thrust_.at(rotor_coef_ * i) = f_i[0];
+          target_base_thrust_.at(rotor_coef_ * i+1) = f_i[1];
+        }else if(gimbal_dof_ == 2){
+          target_base_thrust_.at(rotor_coef_ * i) = f_i[0];
+          target_base_thrust_.at(rotor_coef_ * i+1) = f_i[1];
+          target_base_thrust_.at(rotor_coef_ * i+2) = f_i[2];
+        }
+      if(integrated_map_inv(i, YAW) > max_yaw_scale) max_yaw_scale = integrated_map_inv(i, YAW);
+      last_col += rotor_coef_;
     }
     candidate_yaw_term_ = pid_controllers_.at(YAW).result() * max_yaw_scale;
 
-    /* calculate target full thrusts and  gimbal angles (considering full components)*/
+    /* calculate target full thrusts and gimbal angles (considering full components)*/
     last_col = 0;
     for(int i = 0; i < motor_num_; i++){
-      Eigen::VectorXd f_i_integrated = target_vectoring_f_rot_.segment(last_col, 2) + target_vectoring_f_trans_.segment(last_col, 2);
+      Eigen::VectorXd f_i_integrated = target_vectoring_f_rot_.segment(last_col, rotor_coef_) + target_vectoring_f_trans_.segment(last_col, rotor_coef_);
       target_full_thrust_.at(i) = f_i_integrated.norm();
-      target_gimbal_angles_.at(i) = atan2(-f_i_integrated[0], f_i_integrated[1]);
-      last_col += 2;
+      if(gimbal_dof_ == 1)
+        {
+          target_gimbal_angles_.at(i) = atan2(-f_i_integrated[0], f_i_integrated[1]);
+        }
+      else if(gimbal_dof_ == 2)
+        {
+          if(f_i_integrated[0] == 0 || f_i_integrated[2] == 0) continue;
+
+          double gimbal_roll = atan2(-f_i_integrated[1], f_i_integrated[2]);
+          double gimbal_pitch = atan2(f_i_integrated[0], -f_i_integrated[1] * sin(gimbal_roll) + f_i_integrated[2]* cos(gimbal_roll));
+          target_gimbal_angles_.at(2 * i) = gimbal_roll;
+          target_gimbal_angles_.at(2 * i + 1) = gimbal_pitch;
+        }
+      last_col += rotor_coef_;
     }
   }
 
@@ -225,9 +258,24 @@ namespace aerial_robot_control
     }
     else
       {
+        sensor_msgs::JointState gimbal_control_msg;
+        gimbal_control_msg.header.stamp = ros::Time::now();
+        for(int i = 0; i < motor_num_; i++){
+          if(gimbal_dof_ == 1)
+            {
+              gimbal_control_msg.position.push_back(target_gimbal_angles_.at(i));
+            }
+          else if(gimbal_dof_ == 2)
+            {
+              gimbal_control_msg.position.push_back(target_gimbal_angles_.at(2*i));
+              gimbal_control_msg.position.push_back(target_gimbal_angles_.at(2*i + 1));
+            }
+        }
+        gimbal_control_pub_.publish(gimbal_control_msg);
+
         std_msgs::Float32MultiArray target_vectoring_force_msg;
+        target_vectoring_f_ = target_vectoring_f_trans_ + target_vectoring_f_rot_;
         for(int i = 0; i < target_vectoring_f_.size(); i++){
-          target_vectoring_f_ = target_vectoring_f_trans_ + target_vectoring_f_rot_;
           target_vectoring_force_msg.data.push_back(target_vectoring_f_(i));
         }
         target_vectoring_force_pub_.publish(target_vectoring_force_msg);
@@ -259,22 +307,34 @@ namespace aerial_robot_control
     sensor_msgs::JointState gimbal_state_msg;
     gimbal_state_msg.header.stamp = ros::Time::now();
     for(int i = 0; i < motor_num_; i++){
-      gimbal_state_msg.position.push_back(target_gimbal_angles_.at(i));
-      std::string gimbal_name = "gimbal" + std::to_string(i+1);
-      gimbal_state_msg.name.push_back(gimbal_name);
+      if(gimbal_dof_ == 1)
+        {
+          gimbal_state_msg.position.push_back(target_gimbal_angles_.at(i));
+          std::string gimbal_name = "gimbal" + std::to_string(i+1);
+          gimbal_state_msg.name.push_back(gimbal_name);
+        }
+      else if(gimbal_dof_ == 2)
+      {
+        gimbal_state_msg.position.push_back(target_gimbal_angles_.at(2*i));
+        gimbal_state_msg.position.push_back(target_gimbal_angles_.at(2*i+1));
+        std::string gimbal_roll_name = "gimbal" + std::to_string(i+1) + "_roll";
+        std::string gimbal_pitch_name = "gimbal" + std::to_string(i+1) + "_pitch";
+        gimbal_state_msg.name.push_back(gimbal_roll_name);
+        gimbal_state_msg.name.push_back(gimbal_pitch_name);
+      }
     }
-    gimbal_state_pub_.publish(gimbal_state_msg);
+    // gimbal_state_pub_.publish(gimbal_state_msg);
 
   }
 
   void GimbalrotorController::sendTorqueAllocationMatrixInv()
   {
     spinal::TorqueAllocationMatrixInv torque_allocation_matrix_inv_msg;
-    torque_allocation_matrix_inv_msg.rows.resize(motor_num_*2);
+    torque_allocation_matrix_inv_msg.rows.resize(motor_num_ * rotor_coef_);
     Eigen::MatrixXd torque_allocation_matrix_inv = integrated_map_inv_rot_;
     if (torque_allocation_matrix_inv.cwiseAbs().maxCoeff() > INT16_MAX * 0.001f)
       ROS_ERROR("Torque Allocation Matrix overflow");
-    for (unsigned int i = 0; i < motor_num_*2; i++)
+    for (unsigned int i = 0; i < motor_num_* rotor_coef_; i++)
       {
         torque_allocation_matrix_inv_msg.rows.at(i).x = torque_allocation_matrix_inv(i,0) * 1000;
         torque_allocation_matrix_inv_msg.rows.at(i).y = torque_allocation_matrix_inv(i,1) * 1000;
diff --git a/robots/gimbalrotor/src/gimbalrotor_navigation.cpp b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
index f49898591..9647561aa 100644
--- a/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
+++ b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
@@ -37,6 +37,13 @@ void GimbalrotorNavigator::setFinalTargetBaselinkRotCallback(const spinal::Desir
   final_target_baselink_rot_.setValue(msg->roll, msg->pitch, msg->yaw);
 }
 
+void GimbalrotorNavigator::naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg)
+{
+  BaseNavigator::naviCallback(msg);
+  if(msg->roll_nav_mode == 2) setTargetRoll(msg->target_roll);
+  if(msg->pitch_nav_mode == 2) setTargetPitch(msg->target_pitch);
+}
+
 void GimbalrotorNavigator::baselinkRotationProcess()
 {
   if(curr_target_baselink_rot_ == final_target_baselink_rot_) return;
diff --git a/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp b/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp
index e4a0fc8a3..4b8c3b35c 100644
--- a/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp
+++ b/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp
@@ -17,15 +17,17 @@ void GimbalrotorRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_posi
   KDL::Frame f_baselink;
   fk_solver.JntToCart(joint_positions, f_baselink, getBaselinkName());
   const KDL::Rotation cog_frame = f_baselink.M * getCogDesireOrientation<KDL::Rotation>().Inverse();
-  RobotModel::updateRobotModelImpl(joint_positions);
+  transformable::RobotModel::updateRobotModelImpl(joint_positions);
   const auto seg_tf_map = getSegmentsTf();
 
   /* get local coords of thrust links */
   for(int i = 0; i < getRotorNum(); ++i)
     {
       std::string thrust = "rotor_arm" + std::to_string(i + 1);
-      KDL::Frame f = seg_tf_map.at(thrust);
+      KDL::Frame f;
+      fk_solver.JntToCart(joint_positions, f, thrust);
       thrust_coords_rot_[i] = cog_frame.Inverse() * f.M;
+
     }
 }
 
diff --git a/robots/gimbalrotor/urdf/dragonfly/common.xacro b/robots/gimbalrotor/urdf/dragonfly/common.xacro
new file mode 100644
index 000000000..9dc4f545c
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/common.xacro
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor_common" >
+
+  <!-- general attribute -->
+  <baselink name="fc" />
+  <thrust_link name="thrust" />
+
+  <m_f_rate value="-0.0172" /> <!-- drug torque rate -->
+  <xacro:property name="max_force" value="18.0" /> <!-- [N] -->
+  <xacro:property name="min_force" value="1.0" /> <!-- [N] -->
+
+
+  <!-- friction -->
+  <xacro:macro name="friction" params="self">
+    <gazebo reference="link${self}">
+      <mu1>0.1</mu1>
+      <mu2>0.1</mu2>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="damping_factor" params="link">
+    <gazebo reference="${link}">
+      <dampingFactor>0.00</dampingFactor>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/robots/gimbalrotor/urdf/dragonfly/gimbalrotor.urdf.xacro b/robots/gimbalrotor/urdf/dragonfly/gimbalrotor.urdf.xacro
new file mode 100644
index 000000000..3417bdf9e
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/gimbalrotor.urdf.xacro
@@ -0,0 +1,322 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor_link" >
+
+  <xacro:macro name="gimbalrotor_center_link" params="child1 child2 child3">
+    ## dummy
+    <link name="root">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="root_joint" type="fixed">
+      <parent link="root"/>
+      <child link="base_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    ## link
+    <link name="base_link">
+      <inertial>
+        <origin xyz="0.2237 0.0050 0.0126" rpy="0 0 0"/>
+        <mass value="0.74"/>
+        <inertia
+            ixx="0.0011933" iyy="0.0157954" izz="0.0157066"
+            ixy="-0.0008036" ixz="0.0002441" iyz="0.0000132"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/dragonfly/mesh/main_link.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0.2 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.4 0.3 0.222"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <xacro:damping_factor link="base_link"/>
+
+    <link name="fc">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="fc_joint" type="fixed">
+      <child link="fc"/>
+      <parent link="base_link"/>
+      <origin rpy="0 0 0" xyz="0.33 0 0.067"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    ## dummy rotor arms
+    <link name="rotor_arm${child1}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child1}" type="fixed">
+      <parent link="base_link"/>
+      <child link="rotor_arm${child1}"/>
+      <origin rpy="0 0 ${pi/2}" xyz="0.329 0.065 0.018"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    <link name="rotor_arm${child2}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.0001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child2}" type="fixed">
+      <parent link="base_link"/>
+      <child link="rotor_arm${child2}"/>
+      <origin rpy="0 0 ${-pi/2}" xyz="0.329 -0.065 0.018"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    <link name="rotor_arm${child3}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.0001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child3}" type="fixed">
+      <parent link="tail_link"/>
+      <child link="rotor_arm${child3}"/>
+      <origin rpy="0 0 0" xyz="0.076 0 0.0145"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+   <xacro:friction self="base_link"/>
+  </xacro:macro>
+
+  <xacro:macro name="gimbalrotor_head_link">
+    <!-- head -->
+    <link name="head_link">
+      <inertial>
+        <origin xyz="0.007 0 -0.038" rpy="0 0 0"/>
+        <mass value="0.081"/>
+        <inertia
+            ixx="0.00022881" iyy="0.00022121" izz="0.0"
+            ixy="0.0" ixz="0.00002107" iyz="0.00000009"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/dragonfly/mesh/head_link.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+    </link>
+    <xacro:damping_factor link="head_link"/>
+
+    <joint name="head_joint" type="revolute">
+      <limit effort="6.6" lower="-3.14" upper="3.14" velocity="3.0"/>
+      <parent link="base_link"/>
+      <child link="head_link"/>
+      <origin rpy="0 0 0" xyz="0.41 0 0.018"/>
+      <axis xyz="0 0 1"/>
+      <dynamics damping="0.8" friction="0.0"/>
+    </joint>
+
+    <transmission name="head_joint_tran">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="head_joint">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="head_servo">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+
+
+  <xacro:macro name="gimbalrotor_tail_link">
+    <!-- tail -->
+    <link name="tail_link">
+      <inertial>
+        <origin xyz="0.0356 -0.00294 0.00267" rpy="0 0 0"/>
+        <mass value="0.1212457"/>
+        <inertia
+            ixx="0.0000575" ixy="0.0000127" ixz="0.0000036"
+            iyy="0.0000946" iyz="0.0000010"
+            izz="0.0001120"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/dragonfly/mesh/tail_link.dae" scale="1 1 1"/>
+        </geometry>
+      </visual>
+    </link>
+    <xacro:damping_factor link="tail_link"/>
+
+    <joint name="tail_joint" type="revolute">
+      <limit effort="6.6" lower="-1.57" upper="1.57" velocity="3.0"/>
+      <parent link="base_link"/>
+      <child link="tail_link"/>
+      <origin rpy="0 0 ${pi}" xyz="-0.02 0 0.018"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.8" friction="0.0"/>
+    </joint>
+    <transmission name="tail_joint_tran">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="tail_joint">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="tail_servo">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:macro name="gimbalrotor_gimbal_link" params="self rotor_direction">
+    #### gimbal joints ####
+    <joint name="gimbal${self}_roll" type="revolute">
+      <limit effort="6.6" lower="-2.0" upper="2.0" velocity="3.0"/>
+      <parent link="rotor_arm${self}"/>
+      <child link="gimbal_link${self}"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="1 0 0"/>
+      <dynamics damping="0.8" friction="0.0"/>
+    </joint>
+
+    <transmission name="joint_tran${2*self-1}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="gimbal${self}_roll">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="servo${2*self-1}">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    #### gimbal link  ####
+    <link name="gimbal_link${self}">
+      <inertial>
+       <origin xyz="0.074 0.044 0.0" rpy="0 0 0"/>
+        <mass value="0.124"/>
+        <inertia
+            ixx="0.00080131" iyy="0.00021920" izz="0.00099608"
+            ixy="0.00012557" ixz="0.00000026" iyz="-0.00000061"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/dragonfly/mesh/gimbal_link.dae" scale="1 1 1"/>
+        </geometry>
+      </visual>
+    </link>
+    <xacro:damping_factor link="gimbal_link${self}"/>
+
+
+    #### rotor joint  ####
+    <joint name="gimbal${self}_pitch" type="revolute">
+      <limit effort="6.6" lower="-2.0" upper="2.0" velocity="3.0"/>
+      <parent link="gimbal_link${self}"/>
+      <child link="rotor_parent${self}"/>
+      <origin rpy="0 0 0" xyz="0.112 0.0877 0"/>
+      <axis xyz="0 1 0"/>
+    </joint>
+    <transmission name="joint_tran${2*self}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="gimbal${self}_pitch">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="servo${2*self}">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    ## rotor parent link
+    <link name="rotor_parent${self}">
+      <inertial>
+        <origin xyz="0.09 0 0" rpy="0 0 ${-pi/2}"/>
+        <mass value="0.220"/>
+        <inertia
+            ixx="0.0002011" ixy="0.0000001" ixz="0.0000003"
+            iyy="0.0004337" iyz="0.0"
+            izz="0.0005261"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 ${-pi/2}"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/dragonfly/mesh/rotor_link_CW.dae" scale="1 1 1"/>
+        </geometry>
+      </visual>
+    </link>
+
+    ## thrust link
+    <link name="thrust${self}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+      </inertial>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.1" length="0.1"/>
+        </geometry>
+      </collision>
+    </link>
+    <xacro:damping_factor link="thrust${self}"/>
+
+    #### rotor joint (virtual) ####
+    <joint name="rotor${self}" type="continuous">
+      <limit effort="100.0" lower="${min_force}" upper="${max_force}" velocity="0.5"/>
+      <parent link="rotor_parent${self}"/>
+      <child link="thrust${self}"/>
+      <origin rpy="0 0 0" xyz="0 -0.088 0.02"/>
+      <axis xyz="0 0 ${rotor_direction}"/>
+    </joint>
+
+    <transmission name="rotor_tran${self}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="rotor${self}">
+        <hardwareInterface>RotorInterface</hardwareInterface>
+      </joint>
+      <actuator name="rotor_actuator${self}">
+        <hardwareInterface>RotorInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+
+</robot>
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/gimbal_link.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/gimbal_link.dae
new file mode 100644
index 000000000..eb407310d
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/gimbal_link.dae
@@ -0,0 +1,232 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2023-04-13T12:11:04</created>
+    <modified>2023-04-13T12:11:04</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</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">1</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">1000</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>
+          <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">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Silver-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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1969 823 2007 823 2007 19 1969 19 826 19 841 19 2009 19 2006 19 2006 824 2009 824 2005 824 2006 19 2005 19 2003 19 2006 19 2010 19 841 19 841 19 2010 19 826 19 826 825 2010 825 2007 825 2015 19 2013 19 2012 19 2015 826 2012 826 2016 826 827 827 2011 827 841 827 841 19 2013 19 2009 19 2009 19 2013 19 2015 19 833 828 1987 828 2016 828 2122 829 834 829 2019 829 827 830 2016 830 2011 830 2011 831 2016 831 2012 831 827 19 2018 19 2016 19 2016 832 2018 832 834 832 834 19 2018 19 2019 19 2022 833 827 833 2122 833 2022 834 2122 834 2019 834 2026 19 1969 19 821 19 1969 835 2026 835 826 835 2024 19 836 19 826 19 826 19 836 19 841 19 2027 836 796 836 2029 836 2029 19 796 19 799 19 844 837 2034 837 2031 837 844 19 2031 19 799 19 799 19 2031 19 2029 19 820 19 803 19 821 19 821 19 803 19 2032 19 2032 19 2034 19 821 19 796 838 2027 838 803 838 800 19 2035 19 799 19 799 839 2035 839 2037 839 844 19 2038 19 789 19 789 840 2038 840 1967 840 799 841 2037 841 844 841 1987 19 833 19 1995 19 1995 842 833 842 2042 842 1995 843 2042 843 2040 843 864 844 2043 844 2044 844 864 845 2044 845 2047 845 864 846 2047 846 834 846 2047 847 2048 847 834 847 834 848 2048 848 2051 848 834 849 2051 849 2016 849 2016 19 2051 19 833 19 2055 850 864 850 809 850 792 851 2058 851 809 851 817 19 2061 19 815 19 815 19 2061 19 820 19 1966 852 817 852 810 852 1965 853 1966 853 869 853 1965 854 869 854 786 854 786 855 869 855 1981 855 1981 856 869 856 1970 856 1970 857 869 857 870 857 1970 858 870 858 798 858 803 19 2062 19 1981 19 1981 859 2062 859 2063 859 1981 860 2063 860 786 860 2061 19 1965 19 820 19 820 19 1965 19 786 19 820 19 786 19 803 19 803 861 786 861 2064 861 803 862 2064 862 2062 862 2055 863 2053 863 864 863 864 864 2053 864 1995 864 864 865 1995 865 2043 865 2043 19 1995 19 2040 19 2053 866 2058 866 1995 866 1995 19 2058 19 792 19 2001 19 1996 19 815 19 803 19 1983 19 1979 19 796 867 1974 867 1973 867 796 868 1973 868 799 868 799 869 1973 869 875 869 799 870 875 870 1977 870 844 19 2065 19 2034 19 2034 871 2065 871 2069 871 789 19 2066 19 844 19 844 872 2066 872 2065 872 2024 19 821 19 836 19 836 19 821 19 2034 19 836 19 2034 19 2069 19 836 873 2069 873 2068 873 836 874 2068 874 789 874 1967 19 800 19 789 19 800 875 1971 875 795 875 2122 876 827 876 836 876 836 877 827 877 841 877 836 19 789 19 800 19 836 878 800 878 795 878 2072 879 920 879 2074 879 1857 880 2075 880 716 880 2080 881 2081 881 2082 881 2080 882 2082 882 2084 882 2079 883 2076 883 881 883 2079 884 881 884 2073 884 437 885 1484 885 883 885 2083 886 1855 886 776 886 770 887 807 887 765 887 765 888 807 888 791 888 765 889 791 889 819 889 765 890 819 890 707 890 707 891 819 891 790 891 707 892 790 892 773 892 773 893 790 893 770 893 770 894 790 894 807 894 1495 895 1607 895 402 895 402 896 1607 896 510 896 1621 897 1547 897 2111 897 2111 898 1547 898 2110 898 447 0 512 0 2086 0 2087 19 2088 19 511 19 2087 899 2089 899 2088 899 2088 900 2089 900 2091 900 2086 901 2093 901 447 901 447 902 2093 902 2095 902 2104 183 2097 183 2098 183 2099 903 2101 903 885 903 885 904 2101 904 884 904 884 905 2101 905 2102 905 884 906 2102 906 2094 906 2104 907 2098 907 2099 907 2104 183 2105 183 2097 183 2097 908 2105 908 2094 908 2097 183 2094 183 2102 183 2106 909 885 909 2092 909 2106 910 2107 910 885 910 885 911 2107 911 2099 911 2099 912 2107 912 2104 912 2094 913 2105 913 2108 913 2094 914 2108 914 2092 914 2092 183 2108 183 2106 183 1257 915 401 915 898 915 1269 156 1259 156 2096 156 2096 916 1259 916 898 916 1247 917 1255 917 2090 917 2090 156 1255 156 2096 156 2096 918 1255 918 1283 918 2096 156 1283 156 1269 156 898 919 1259 919 1265 919 1265 156 1280 156 1275 156 1275 920 1280 920 1283 920 1283 921 1280 921 1270 921 1283 922 1270 922 1269 922 1265 923 1275 923 898 923 898 924 1275 924 1257 924 401 925 1257 925 1247 925 401 926 1247 926 2090 926 888 203 887 203 889 203 889 203 887 203 886 203 448 927 452 927 2109 927 896 928 451 928 474 928 896 929 474 929 2112 929 2113 930 2115 930 2110 930 2110 931 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958 806 959 1867 959 1986 959 1864 1022 801 1022 721 1022 721 1023 801 1023 802 1023 804 1024 719 1024 1861 1024 804 1025 1861 1025 1984 1025 805 1026 718 1026 1866 1026 805 1027 1866 1027 1980 1027 717 1028 1982 1028 722 1028 722 1029 1982 1029 793 1029 797 1030 507 1030 506 1030 797 1031 508 1031 507 1031 409 1032 714 1032 388 1032 714 1033 409 1033 408 1033 487 1034 386 1034 385 1034 487 985 385 985 1585 985 426 1035 1481 1035 486 1035 486 1036 1481 1036 484 1036 485 988 429 988 1514 988 485 989 1514 989 1583 989 427 1037 1517 1037 488 1037 488 1038 1517 1038 489 1038 1546 1039 2229 1039 1601 1039 1601 1040 2229 1040 2230 1040 387 1041 1482 1041 518 1041 518 1042 1482 1042 1622 1042 446 19 505 19 2171 19 2172 0 2173 0 519 0 2174 1043 2176 1043 2172 1043 2172 1044 2176 1044 2173 1044 2178 1045 2180 1045 2171 1045 2171 1046 2180 1046 446 1046 2182 156 2183 156 2179 156 2179 1047 2183 1047 2184 1047 2179 1048 2184 1048 2186 1048 2179 1049 2186 1049 2177 1049 2183 1050 2187 1050 2184 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1318 1079 1318 1130 1318 1130 1319 1079 1319 1087 1319 1130 1320 1087 1320 1125 1320 1125 1321 1087 1321 1126 1321 1126 1322 1087 1322 1067 1322 1126 1323 1067 1323 1127 1323 1127 1324 1067 1324 1076 1324 1127 1325 1076 1325 1128 1325</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Pitch_Link_Xi_Black-mesh" name="Pitch Link Xi Black">
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1177 578 1178 593 1178 577 1178 578 1179 577 1179 594 1179 601 1180 599 1180 600 1180 606 1181 601 1181 604 1181 608 1182 606 1182 605 1182 605 1183 606 1183 604 1183 605 1184 609 1184 608 1184 606 1185 611 1185 610 1185 610 1186 607 1186 606 1186 608 1187 612 1187 606 1187 606 1188 612 1188 611 1188 607 1189 610 1189 612 1189 607 1190 612 1190 608 1190 613 1191 612 1191 615 1191 615 1192 612 1192 610 1192 615 1193 610 1193 614 1193 614 1194 610 1194 611 1194 612 1195 616 1195 611 1195 611 1196 616 1196 614 1196 612 1197 613 1197 616 1197 599 1198 602 1198 615 1198 615 1199 602 1199 613 1199 603 1200 617 1200 618 1200 603 1201 618 1201 616 1201 619 1202 601 1202 618 1202 618 1203 601 1203 616 1203 603 1204 620 1204 621 1204 603 1205 621 1205 617 1205 621 1206 609 1206 604 1206 604 1207 618 1207 621 1207 621 1208 618 1208 622 1208 609 1209 620 1209 608 1209 620 1210 603 1210 608 1210 601 1211 606 1211 599 1211 599 1212 606 1212 607 1212 599 1213 607 1213 602 1213 602 1214 607 1214 608 1214 602 1215 608 1215 603 1215 604 1216 601 1216 619 1216 615 1217 614 1217 599 1217 599 1218 614 1218 600 1218 603 1219 616 1219 602 1219 602 1220 616 1220 613 1220 600 1221 614 1221 601 1221 601 1222 614 1222 616 1222 623 1223 627 1223 626 1223 629 1224 625 1224 628 1224 631 1225 629 1225 628 1225 628 1226 632 1226 631 1226 629 1227 634 1227 633 1227 633 1228 630 1228 629 1228 631 1229 635 1229 629 1229 629 1230 635 1230 634 1230 630 1231 633 1231 635 1231 630 1232 635 1232 631 1232 636 1233 635 1233 638 1233 638 1234 635 1234 633 1234 638 1235 633 1235 637 1235 637 1236 633 1236 634 1236 635 1237 639 1237 634 1237 634 1238 639 1238 637 1238 635 1239 636 1239 639 1239 623 1240 626 1240 638 1240 638 1241 626 1241 636 1241 627 1242 640 1242 639 1242 641 1243 625 1243 640 1243 640 1244 625 1244 639 1244 627 1245 642 1245 643 1245 643 1246 644 1246 628 1246 628 1247 640 1247 643 1247 644 1248 642 1248 631 1248 642 1249 627 1249 631 1249 625 1250 629 1250 624 1250 624 1251 629 1251 630 1251 624 1252 630 1252 623 1252 623 1253 630 1253 627 1253 627 1254 630 1254 631 1254 628 1255 625 1255 641 1255 638 1256 637 1256 623 1256 623 1257 637 1257 624 1257 627 1258 639 1258 626 1258 626 1259 639 1259 636 1259 624 1260 637 1260 625 1260 625 1261 637 1261 639 1261 648 1262 645 1262 646 1262 649 1263 647 1263 650 1263 652 1264 648 1264 651 1264 655 1265 652 1265 653 1265 653 1266 652 1266 651 1266 653 1267 656 1267 655 1267 652 1268 658 1268 654 1268 654 1269 658 1269 657 1269 655 1270 659 1270 652 1270 652 1271 659 1271 658 1271 654 1272 657 1272 655 1272 655 1273 657 1273 659 1273 660 1274 659 1274 662 1274 662 1275 659 1275 657 1275 662 1276 657 1276 661 1276 661 1277 657 1277 658 1277 659 1278 663 1278 658 1278 658 1279 663 1279 661 1279 659 1280 660 1280 663 1280 647 1281 662 1281 645 1281 647 1282 649 1282 662 1282 662 1283 649 1283 660 1283 650 1284 664 1284 665 1284 650 1285 665 1285 663 1285 666 1286 648 1286 665 1286 665 1287 648 1287 663 1287 650 1288 667 1288 668 1288 650 1289 668 1289 664 1289 668 1290 656 1290 651 1290 651 1291 665 1291 668 1291 668 1292 665 1292 669 1292 656 1293 667 1293 655 1293 667 1294 650 1294 655 1294 648 1295 652 1295 645 1295 645 1296 652 1296 654 1296 645 1297 654 1297 647 1297 647 1298 654 1298 655 1298 647 1299 655 1299 650 1299 651 1300 648 1300 666 1300 662 1301 661 1301 645 1301 645 1302 661 1302 646 1302 650 1303 663 1303 649 1303 649 1304 663 1304 660 1304 646 1305 661 1305 648 1305 648 1306 661 1306 663 1306 671 1307 672 1307 670 1307 676 1308 672 1308 675 1308 678 1309 676 1309 675 1309 675 1310 679 1310 678 1310 676 1311 681 1311 680 1311 678 1312 682 1312 676 1312 676 1313 682 1313 681 1313 676 1314 680 1314 677 1314 677 1315 680 1315 682 1315 677 1316 682 1316 678 1316 683 1317 682 1317 685 1317 685 1318 682 1318 680 1318 685 1319 680 1319 684 1319 684 1320 680 1320 681 1320 682 1321 686 1321 681 1321 681 1322 686 1322 684 1322 682 1323 683 1323 686 1323 670 1324 673 1324 685 1324 685 1325 673 1325 683 1325 674 1326 687 1326 686 1326 688 1327 672 1327 687 1327 687 1328 672 1328 686 1328 674 1329 689 1329 690 1329 690 1330 691 1330 675 1330 675 1331 687 1331 690 1331 691 1332 689 1332 678 1332 689 1333 674 1333 678 1333 672 1334 676 1334 670 1334 670 1335 676 1335 677 1335 670 1336 677 1336 673 1336 673 1337 677 1337 678 1337 673 1338 678 1338 674 1338 675 1339 672 1339 688 1339 685 1340 684 1340 670 1340 670 1341 684 1341 671 1341 674 1342 686 1342 673 1342 673 1343 686 1343 683 1343 671 1344 684 1344 672 1344 672 1345 684 1345 686 1345</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Pitch_Link_Xi_Silver" name="Pitch Link Xi Silver" 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="#Pitch_Link_Xi_Silver-mesh" name="Pitch Link Xi Silver">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Silver-material" target="#Silver-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Pitch_Link_Xi_Black" name="Pitch Link Xi Black" 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="#Pitch_Link_Xi_Black-mesh" name="Pitch Link Xi Black">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/head_link.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/head_link.dae
new file mode 100644
index 000000000..0d3b6abec
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/head_link.dae
@@ -0,0 +1,868 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
+    </contributor>
+    <created>2024-04-12T18:20:43</created>
+    <modified>2024-04-12T18:20:43</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0</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">1</mode>
+          <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">1000</energy>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <radius sid="radius" type="float">0.1</radius>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Shape_005-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.768627 0.768627 0.768627 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.2 0.2 0.2 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.768627 0.768627 0.768627 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_006-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_008-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_009-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_010-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_011-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_012-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_013-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_014-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_015-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.411765 0.411765 0.411765 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_016-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_017-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_018-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.411765 0.411765 0.411765 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
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18467 2856 5741 18468 18468 2829 5741 18469 18469 2846 5741 18470 18470 2849 5742 18471 18471 2846 5742 18472 18472 2830 5742 18473 18473 2830 5743 18474 18474 2846 5743 18475 18475 2829 5743 18476 18476 2876 5744 18477 18477 2897 5744 18478 18478 2856 5744 18479 18479 2856 5745 18480 18480 2897 5745 18481 18481 2829 5745 18482 18482 2897 5746 18483 18483 2876 5746 18484 18484 2887 5746 18485 18485 2887 5747 18486 18486 2873 5747 18487 18487 2898 5747 18488 18488 2897 5748 18489 18489 2887 5748 18490 18490 2898 5748 18491 18491</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Shape_IndexedFaceSet_005" name="Shape_IndexedFaceSet.005" type="NODE">
+        <matrix sid="transform">1000 0 0 0 0 1000 0 0 0 0 1000 0 0 0 0 1</matrix>
+        <instance_geometry url="#Shape_IndexedFaceSet_005-mesh" name="Shape_IndexedFaceSet.005">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Shape_005-material" target="#Shape_005-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape-material" target="#Shape-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_001-material" target="#Shape_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_002-material" target="#Shape_002-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_003-material" target="#Shape_003-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_004-material" target="#Shape_004-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_006-material" target="#Shape_006-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_007-material" target="#Shape_007-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_008-material" target="#Shape_008-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_009-material" target="#Shape_009-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_010-material" target="#Shape_010-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_011-material" target="#Shape_011-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_012-material" target="#Shape_012-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_013-material" target="#Shape_013-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_014-material" target="#Shape_014-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_015-material" target="#Shape_015-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_016-material" target="#Shape_016-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_017-material" target="#Shape_017-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_018-material" target="#Shape_018-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_019-material" target="#Shape_019-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_020-material" target="#Shape_020-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_021-material" target="#Shape_021-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_022-material" target="#Shape_022-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_023-material" target="#Shape_023-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/main_link.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/main_link.dae
new file mode 100644
index 000000000..c7ab79abd
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/main_link.dae
@@ -0,0 +1,6688 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
+    </contributor>
+    <created>2024-04-12T18:21:18</created>
+    <modified>2024-04-12T18:21:18</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0</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">1</mode>
+          <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">1000</energy>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <radius sid="radius" type="float">0.1</radius>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Shape_149-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.792157 0.819608 0.933333 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.203922 0.203922 0.203922 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      <profile_COMMON>
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+          <lambert>
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+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
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+        </technique>
+      </profile_COMMON>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
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+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
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+            <diffuse>
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+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
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+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.898039 0.898039 0.898039 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
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+        <technique sid="common">
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+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.768627 0.768627 0.768627 1</color>
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+            <index_of_refraction>
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+            <emission>
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+        <technique sid="common">
+          <lambert>
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+            <diffuse>
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+            <emission>
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+            <diffuse>
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+          <technique_common>
+            <accessor source="#Shape_IndexedFaceSet_149-mesh-map-0-array" count="59481" stride="2">
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+          </technique_common>
+        </source>
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11236 1819 3471 11237 11237 1824 3472 11238 11238 1821 3472 11239 11239 1802 3472 11240 11240 1808 3473 11241 11241 1820 3473 11242 11242 1802 3473 11243 11243 1802 3474 11244 11244 1820 3474 11245 11245 1824 3474 11246 11246 1818 3475 11247 11247 1819 3475 11248 11248 1817 3475 11249 11249 1818 3476 11250 11250 1817 3476 11251 11251 1813 3476 11252 11252 1813 3477 11253 11253 1817 3477 11254 11254 1820 3477 11255 11255 1820 3478 11256 11256 1817 3478 11257 11257 1824 3478 11258 11258 1828 3479 11259 11259 1836 3479 11260 11260 1844 3479 11261 11261 1820 3480 11262 11262 1808 3480 11263 11263 1826 3480 11264 11264 1844 3481 11265 11265 1849 3481 11266 11266 1839 3481 11267 11267 1844 3482 11268 11268 1839 3482 11269 11269 1818 3482 11270 11270 1839 3483 11271 11271 1809 3483 11272 11272 1818 3483 11273 11273 1844 3484 11274 11274 1836 3484 11275 11275 1843 3484 11276 11276 1845 3485 11277 11277 1843 3485 11278 11278 1820 3485 11279 11279 1820 3486 11280 11280 1843 3486 11281 11281 1827 3486 11282 11282 1826 3487 11283 11283 1845 3487 11284 11284 1820 3487 11285 11285 1836 3488 11286 11286 1827 3488 11287 11287 1843 3488 11288 11288 1820 3489 11289 11289 1827 3489 11290 11290 1822 3489 11291 11291 1818 3490 11292 11292 1828 3490 11293 11293 1844 3490 11294 11294 1822 3491 11295 11295 1813 3491 11296 11296 1820 3491 11297 11297 1828 3492 11298 11298 1818 3492 11299 11299 1822 3492 11300 11300 1822 3493 11301 11301 1818 3493 11302 11302 1813 3493 11303 11303 1830 3494 11304 11304 1827 3494 11305 11305 1836 3494 11306 11306 1830 3495 11307 11307 1836 3495 11308 11308 1840 3495 11309 11309 1840 3496 11310 11310 1836 3496 11311 11311 1834 3496 11312 11312 1836 3497 11313 11313 1828 3497 11314 11314 1834 3497 11315 11315 1819 3498 11316 11316 1834 3498 11317 11317 1828 3498 11318 11318 1828 3499 11319 11319 1822 3499 11320 11320 1819 3499 11321 11321 1819 3500 11322 11322 1822 3500 11323 11323 1817 3500 11324 11324 1817 3501 11325 11325 1822 3501 11326 11326 1824 3501 11327 11327 1824 3502 11328 11328 1822 3502 11329 11329 1827 3502 11330 11330 1827 3503 11331 11331 1830 3503 11332 11332 1824 3503 11333 11333 1844 3504 11334 11334 1845 3504 11335 11335 1849 3504 11336 11336 1844 3505 11337 11337 1843 3505 11338 11338 1845 3505 11339 11339</p>
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1925 3577 11562 11562 1934 3577 11563 11563 1923 3577 11564 11564 1931 3578 11565 11565 1924 3578 11566 11566 1922 3578 11567 11567 1923 3579 11568 11568 1934 3579 11569 11569 1919 3579 11570 11570 1922 3580 11571 11571 1913 3580 11572 11572 1934 3580 11573 11573 1934 3581 11574 11574 1913 3581 11575 11575 1919 3581 11576 11576 1929 3582 11577 11577 1927 3582 11578 11578 1915 3582 11579 11579 1916 3583 11580 11580 1923 3583 11581 11581 1919 3583 11582 11582 1927 3584 11583 11583 1916 3584 11584 11584 1915 3584 11585 11585 1927 3585 11586 11586 1925 3585 11587 11587 1916 3585 11588 11588 1916 3586 11589 11589 1925 3586 11590 11590 1923 3586 11591 11591 1928 3587 11592 11592 1926 3587 11593 11593 1933 3587 11594 11594 1890 3588 11595 11595 1892 3588 11596 11596 1898 3588 11597 11597 1897 3589 11598 11598 1891 3589 11599 11599 1889 3589 11600 11600 1932 3590 11601 11601 1925 3590 11602 11602 1927 3590 11603 11603 1933 3591 11604 11604 1936 3591 11605 11605 1930 3591 11606 11606 1936 3592 11607 11607 1931 3592 11608 11608 1920 3592 11609 11609 1926 3593 11610 11610 1931 3593 11611 11611 1936 3593 11612 11612 1926 3594 11613 11613 1936 3594 11614 11614 1933 3594 11615 11615 1918 3595 11616 11616 1917 3595 11617 11617 1928 3595 11618 11618 1918 3596 11619 11619 1928 3596 11620 11620 1930 3596 11621 11621 1924 3597 11622 11622 1917 3597 11623 11623 1914 3597 11624 11624 1924 3598 11625 11625 1914 3598 11626 11626 1922 3598 11627 11627 1926 3599 11628 11628 1928 3599 11629 11629 1917 3599 11630 11630 1926 3600 11631 11631 1917 3600 11632 11632 1924 3600 11633 11633 1926 3601 11634 11634 1924 3601 11635 11635 1931 3601 11636 11636 1901 3602 11637 11637 1906 3602 11638 11638 1917 3602 11639 11639 1916 3603 11640 11640 1903 3603 11641 11641 1900 3603 11642 11642 1906 3604 11643 11643 1912 3604 11644 11644 1917 3604 11645 11645 1917 3605 11646 11646 1912 3605 11647 11647 1914 3605 11648 11648 1916 3606 11649 11649 1911 3606 11650 11650 1903 3606 11651 11651 1911 3607 11652 11652 1919 3607 11653 11653 1913 3607 11654 11654 1911 3608 11655 11655 1916 3608 11656 11656 1919 3608 11657 11657 1911 3609 11658 11658 1913 3609 11659 11659 1912 3609 11660 11660 1912 3610 11661 11661 1913 3610 11662 11662 1914 3610 11663 11663 1913 3611 11664 11664 1922 3611 11665 11665 1914 3611 11666 11666 1917 3612 11667 11667 1918 3612 11668 11668 1901 3612 11669 11669 1901 3613 11670 11670 1918 3613 11671 11671 1902 3613 11672 11672 1900 3614 11673 11673 1899 3614 11674 11674 1916 3614 11675 11675 1916 3615 11676 11676 1899 3615 11677 11677 1915 3615 11678 11678 1894 3616 11679 11679 1888 3616 11680 11680 1902 3616 11681 11681 1918 3617 11682 11682 1930 3617 11683 11683 1936 3617 11684 11684 1894 3618 11685 11685 1902 3618 11686 11686 1936 3618 11687 11687 1936 3619 11688 11688 1902 3619 11689 11689 1918 3619 11690 11690 1888 3620 11691 11691 1898 3620 11692 11692 1902 3620 11693 11693 1906 3621 11694 11694 1901 3621 11695 11695 1898 3621 11696 11696 1892 3622 11697 11697 1905 3622 11698 11698 1906 3622 11699 11699 1892 3623 11700 11700 1906 3623 11701 11701 1898 3623 11702 11702 1902 3624 11703 11703 1898 3624 11704 11704 1901 3624 11705 11705 1905 3625 11706 11706 1892 3625 11707 11707 1896 3625 11708 11708 1906 3626 11709 11709 1905 3626 11710 11710 1912 3626 11711 11711 1912 3627 11712 11712 1905 3627 11713 11713 1908 3627 11714 11714 1904 3628 11715 11715 1903 3628 11716 11716 1907 3628 11717 11717 1907 3629 11718 11718 1903 3629 11719 11719 1911 3629 11720 11720 1912 3630 11721 11721 1908 3630 11722 11722 1911 3630 11723 11723 1911 3631 11724 11724 1908 3631 11725 11725 1907 3631 11726 11726 1903 3632 11727 11727 1904 3632 11728 11728 1891 3632 11729 11729 1899 3633 11730 11730 1900 3633 11731 11731 1897 3633 11732 11732 1897 3634 11733 11733 1900 3634 11734 11734 1903 3634 11735 11735 1897 3635 11736 11736 1903 3635 11737 11737 1891 3635 11738 11738 1899 3636 11739 11739 1897 3636 11740 11740 1887 3636 11741 11741 1887 3637 11742 11742 1889 3637 11743 11743 1893 3637 11744 11744 1891 3638 11745 11745 1895 3638 11746 11746 1893 3638 11747 11747 1891 3639 11748 11748 1893 3639 11749 11749 1889 3639 11750 11750 1887 3640 11751 11751 1897 3640 11752 11752 1889 3640 11753 11753 1894 3641 11754 11754 1890 3641 11755 11755 1888 3641 11756 11756 1894 3642 11757 11757 1896 3642 11758 11758 1892 3642 11759 11759 1890 3643 11760 11760 1894 3643 11761 11761 1892 3643 11762 11762 1888 3644 11763 11763 1890 3644 11764 11764 1898 3644 11765 11765 1933 3645 11766 11766 1930 3645 11767 11767 1928 3645 11768 11768 1899 3646 11769 11769 1887 3646 11770 11770 1893 3646 11771 11771 1935 3647 11772 11772 1929 3647 11773 11773 1915 3647 11774 11774 1935 3648 11775 11775 1915 3648 11776 11776 1893 3648 11777 11777 1893 3649 11778 11778 1915 3649 11779 11779 1899 3649 11780 11780 1932 3650 11781 11781 1927 3650 11782 11782 1929 3650 11783 11783 1904 3651 11784 11784 1895 3651 11785 11785 1891 3651 11786 11786 1904 3652 11787 11787 1907 3652 11788 11788 1895 3652 11789 11789 1895 3653 11790 11790 1907 3653 11791 11791 1909 3653 11792 11792 1907 3654 11793 11793 1908 3654 11794 11794 1909 3654 11795 11795 1909 3655 11796 11796 1908 3655 11797 11797 1910 3655 11798 11798 1908 3656 11799 11799 1905 3656 11800 11800 1910 3656 11801 11801 1910 3657 11802 11802 1905 3657 11803 11803 1896 3657 11804 11804</p>
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12807 2225 3987 12808 12808 2130 3987 12809 12809 2226 3988 12810 12810 2252 3988 12811 12811 2371 3988 12812 12812 2124 3989 12813 12813 2120 3989 12814 12814 2149 3989 12815 12815 2149 3990 12816 12816 2252 3990 12817 12817 2226 3990 12818 12818 2149 3991 12819 12819 2142 3991 12820 12820 2144 3991 12821 12821 2144 3992 12822 12822 2142 3992 12823 12823 2137 3992 12824 12824 2144 3993 12825 12825 2137 3993 12826 12826 2120 3993 12827 12827 2120 3994 12828 12828 2137 3994 12829 12829 2126 3994 12830 12830 2120 3995 12831 12831 2126 3995 12832 12832 2149 3995 12833 12833 2149 3996 12834 12834 2126 3996 12835 12835 2142 3996 12836 12836 2142 3997 12837 12837 2126 3997 12838 12838 2137 3997 12839 12839 2122 3998 12840 12840 2143 3998 12841 12841 2150 3998 12842 12842 2150 3999 12843 12843 2143 3999 12844 12844 2139 3999 12845 12845 2150 4000 12846 12846 2139 4000 12847 12847 2124 4000 12848 12848 2124 4001 12849 12849 2139 4001 12850 12850 2128 4001 12851 12851 2124 4002 12852 12852 2128 4002 12853 12853 2122 4002 12854 12854 2122 4003 12855 12855 2128 4003 12856 12856 2143 4003 12857 12857 2139 4004 12858 12858 2143 4004 12859 12859 2128 4004 12860 12860 2252 4005 12861 12861 2240 4005 12862 12862 2251 4005 12863 12863 2251 4006 12864 12864 2240 4006 12865 12865 2235 4006 12866 12866 2251 4007 12867 12867 2235 4007 12868 12868 2225 4007 12869 12869 2225 4008 12870 12870 2235 4008 12871 12871 2229 4008 12872 12872 2225 4009 12873 12873 2229 4009 12874 12874 2219 4009 12875 12875 2219 4010 12876 12876 2229 4010 12877 12877 2252 4010 12878 12878 2252 4011 12879 12879 2229 4011 12880 12880 2240 4011 12881 12881 2240 4012 12882 12882 2229 4012 12883 12883 2235 4012 12884 12884 2221 4013 12885 12885 2241 4013 12886 12886 2254 4013 12887 12887 2254 4014 12888 12888 2241 4014 12889 12889 2237 4014 12890 12890 2254 4015 12891 12891 2237 4015 12892 12892 2226 4015 12893 12893 2226 4016 12894 12894 2237 4016 12895 12895 2231 4016 12896 12896 2226 4017 12897 12897 2231 4017 12898 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4032 12944 12944 2201 4033 12945 12945 2173 4033 12946 12946 2171 4033 12947 12947 2171 4034 12948 12948 2173 4034 12949 12949 2152 4034 12950 12950 2130 4035 12951 12951 2176 4035 12952 12952 2308 4035 12953 12953 2152 4036 12954 12954 2167 4036 12955 12955 2171 4036 12956 12956 2087 4037 12957 12957 2151 4037 12958 12958 2071 4037 12959 12959 2087 4038 12960 12960 2071 4038 12961 12961 2040 4038 12962 12962 2040 4039 12963 12963 2071 4039 12964 12964 2041 4039 12965 12965 2041 4040 12966 12966 2071 4040 12967 12967 2072 4040 12968 12968 2130 4041 12969 12969 2088 4041 12970 12970 2152 4041 12971 12971 2152 4042 12972 12972 2173 4042 12973 12973 2130 4042 12974 12974 2130 4043 12975 12975 2173 4043 12976 12976 2176 4043 12977 12977 2308 4044 12978 12978 2176 4044 12979 12979 2203 4044 12980 12980 2281 4045 12981 12981 2307 4045 12982 12982 2304 4045 12983 12983 2281 498 12984 12984 2304 498 12985 12985 2296 498 12986 12986 2307 4046 12987 12987 2281 4046 12988 12988 2129 4046 12989 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Shape_IndexedFaceSet_149" name="Shape_IndexedFaceSet.149" type="NODE">
+        <matrix sid="transform">1000 0 0 0 0 1000 0 0 0 0 1000 0 0 0 0 1</matrix>
+        <instance_geometry url="#Shape_IndexedFaceSet_149-mesh" name="Shape_IndexedFaceSet.149">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Shape_149-material" target="#Shape_149-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape-material" target="#Shape-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_001-material" target="#Shape_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_002-material" target="#Shape_002-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_003-material" target="#Shape_003-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_004-material" target="#Shape_004-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_005-material" target="#Shape_005-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
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+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
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+              </instance_material>
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+              </instance_material>
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+              </instance_material>
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+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
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+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_212-material" target="#Shape_212-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
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+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_214-material" target="#Shape_214-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_215-material" target="#Shape_215-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_216-material" target="#Shape_216-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_217-material" target="#Shape_217-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_137-material" target="#Shape_137-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_147-material" target="#Shape_147-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CCW.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CCW.dae
new file mode 100644
index 000000000..08d253588
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CCW.dae
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2023-01-05T16:34:27</created>
+    <modified>2023-01-05T16:34:27</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</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">1</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">1000</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>
+          <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">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.0188488 0.0188488 0.0188488 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="rotor_unit_with_joint_CCW-mesh" name="rotor unit with joint CCW">
+      <mesh>
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1843 973 280 962 280 982 280 973 1844 982 1844 974 1844 974 1845 960 1845 983 1845 960 280 959 280 953 280 960 1846 953 1846 983 1846 980 280 984 280 953 280 953 1847 984 1847 983 1847 980 1848 974 1848 984 1848 960 1849 974 1849 982 1849 967 1850 977 1850 955 1850 973 1851 870 1851 975 1851 975 1852 870 1852 963 1852 916 1853 985 1853 914 1853 914 1854 985 1854 986 1854 914 1855 986 1855 906 1855 906 1856 986 1856 911 1856 911 1857 986 1857 987 1857 911 1858 987 1858 926 1858 926 1859 987 1859 988 1859 926 1860 988 1860 922 1860 922 1861 988 1861 989 1861 922 1862 989 1862 921 1862 921 1863 989 1863 990 1863 921 1864 990 1864 916 1864 916 1865 990 1865 985 1865 989 230 1001 230 993 230 989 1866 988 1866 994 1866 988 1867 995 1867 996 1867 996 1868 995 1868 997 1868 996 230 997 230 998 230 998 1869 997 1869 999 1869 987 1870 999 1870 995 1870 987 1871 995 1871 988 1871 989 1872 994 1872 1000 1872 989 1873 1000 1873 1001 1873 990 1874 1010 1874 1002 1874 990 230 1002 230 985 230 1003 230 985 230 1002 230 985 230 1003 230 986 230 1005 230 1004 230 986 230 986 1875 1006 1875 992 1875 992 1876 1006 1876 1007 1876 992 1877 1007 1877 1005 1877 1005 1878 1007 1878 1004 1878 986 1879 1004 1879 1006 1879 986 230 992 230 1008 230 998 230 987 230 1008 230 1008 1880 987 1880 986 1880 987 230 998 230 999 230 991 230 1001 230 1009 230 991 230 1009 230 994 230 994 1881 1009 1881 1000 1881 990 1882 993 1882 1010 1882 993 1883 1011 1883 1010 1883 993 230 990 230 989 230 1001 230 991 230 993 230 988 230 996 230 994 230 1002 230 1013 230 1003 230 1003 230 1005 230 986 230 1011 230 1014 230 1010 230 1013 1884 1002 1884 1014 1884 1013 1885 1014 1885 1011 1885 998 230 992 230 1015 230 998 1886 1015 1886 996 1886 1012 230 991 230 994 230 1001 1887 963 1887 1009 1887 1009 1888 963 1888 970 1888 1009 1889 970 1889 1000 1889 1000 1890 970 1890 971 1890 1000 1891 971 1891 1001 1891 1001 1892 971 1892 963 1892 993 1893 961 1893 1011 1893 1011 1894 961 1894 975 1894 1011 1895 975 1895 991 1895 991 1896 975 1896 993 1896 993 1897 975 1897 976 1897 993 1898 976 1898 961 1898 1012 1899 972 1899 996 1899 996 1900 972 1900 966 1900 996 1901 966 1901 994 1901 994 1902 966 1902 964 1902 994 1903 964 1903 1012 1903 1012 1904 964 1904 972 1904 997 1905 965 1905 977 1905 997 1906 977 1906 999 1906 999 1907 977 1907 967 1907 999 1908 967 1908 995 1908 995 1909 967 1909 965 1909 995 1910 965 1910 997 1910 992 1911 979 1911 1008 1911 1008 1912 979 1912 968 1912 1008 1913 968 1913 978 1913 1008 1914 978 1914 998 1914 998 1915 978 1915 979 1915 998 1916 979 1916 992 1916 1004 1917 980 1917 1006 1917 1006 1918 980 1918 969 1918 1006 1919 969 1919 1007 1919 1007 1920 969 1920 981 1920 1007 1921 981 1921 1004 1921 1004 1922 981 1922 980 1922 1003 1923 983 1923 984 1923 1003 1924 984 1924 1005 1924 1005 1925 984 1925 974 1925 1005 1926 974 1926 1013 1926 1013 1927 974 1927 983 1927 1013 1928 983 1928 1003 1928 1002 1929 960 1929 1014 1929 1014 1930 960 1930 982 1930 1014 1931 982 1931 962 1931 1014 1932 962 1932 1010 1932 1010 1933 962 1933 1002 1933 1002 1934 962 1934 960 1934 869 1935 1018 1935 1016 1935 871 1936 1017 1936 869 1936 869 1937 1017 1937 1018 1937 871 1938 1019 1938 1017 1938 866 1939 1020 1939 1019 1939 866 1940 1019 1940 871 1940 866 1941 1021 1941 1020 1941 1016 230 1018 230 1021 230 1016 230 1021 230 867 230 867 230 1021 230 866 230 1018 1942 996 1942 1021 1942 1021 1943 996 1943 992 1943 1021 1944 992 1944 1020 1944 1020 1945 992 1945 1005 1945 1020 1946 1005 1946 1019 1946 1019 1947 1005 1947 1013 1947 1019 1948 1013 1948 1011 1948 1019 1949 1011 1949 1017 1949 1017 1950 1011 1950 991 1950 1017 1951 991 1951 1018 1951 1018 1952 991 1952 1012 1952 1018 1953 1012 1953 996 1953</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rotor_unit_with_joint_CCW" name="rotor unit with joint CCW" 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="#rotor_unit_with_joint_CCW-mesh" name="rotor unit with joint CCW">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CW.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CW.dae
new file mode 100644
index 000000000..b0500fe6f
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/rotor_link_CW.dae
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2023-01-05T16:33:17</created>
+    <modified>2023-01-05T16:33:17</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</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">1</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">1000</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>
+          <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">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.0188488 0.0188488 0.0188488 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="rotor_unit_with_joint_CW-mesh" name="rotor unit with joint CW">
+      <mesh>
+        <source id="rotor_unit_with_joint_CW-mesh-positions">
+          <float_array id="rotor_unit_with_joint_CW-mesh-positions-array" count="4389">0.184 1.64347e-4 -0.001894831 0.168 -0.001376569 -0.001228094 0.184 -0.001376569 0.001228094 0.168 -7.50382e-4 0.001547098 0.184 0.001335859 0.001233875 0.168 0.001547098 7.50382e-4 0.168 0.00103265 -0.001321196 0.172 -0.01699995 -0.01699995 0.162 -0.01699995 -0.01699995 0.172 0.01237142 -0.01623183 0.172 0.01699995 -0.01699995 0.162 0.01699995 -0.01699995 0.162 0.01699995 0.01699995 0.172 0.01699995 0.01699995 0.172 0.01616317 0.01234567 0.162 0.01006394 0.01699995 0.162 -0.01699995 0.01699995 0.172 -0.01699995 0.01699995 0.172 -0.01234567 0.01616317 0.172 -0.01623183 -0.01237142 0.162 -0.01699995 -0.01006394 0.162 -0.01289224 0.01083308 0.162 0.01390206 0.01134431 0.162 0.01083308 0.01289224 0.162 0.01369255 0.01415133 0.162 0.01415133 -0.01369255 0.162 0.01289224 -0.01083308 0.162 0.01134431 -0.01390206 0.162 -0.006967663 -0.006144821 0.162 -0.00291872 0.009004533 0.162 -0.001376092 -0.00884509 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2777 1443 2777 1460 2778 1459 2778 1458 2778 1460 2779 1458 2779 1461 2779 1461 2780 1458 2780 1462 2780 1462 2247 1458 2247 1459 2247 1442 2781 1460 2781 1440 2781 1440 2782 1460 2782 1461 2782 1460 2783 1442 2783 1435 2783 1460 2784 1435 2784 1459 2784 1437 2785 1462 2785 1435 2785 1435 2786 1462 2786 1459 2786 1440 2787 1461 2787 1437 2787 1437 2788 1461 2788 1462 2788 1444 2789 1457 2789 1445 2789 1457 2790 1444 2790 1450 2790</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="rotor_unit_with_joint_CW" name="rotor unit with joint CW" 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="#rotor_unit_with_joint_CW-mesh" name="rotor unit with joint CW">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/dragonfly/mesh/tail_link.dae b/robots/gimbalrotor/urdf/dragonfly/mesh/tail_link.dae
new file mode 100644
index 000000000..bdd9a9dd7
--- /dev/null
+++ b/robots/gimbalrotor/urdf/dragonfly/mesh/tail_link.dae
@@ -0,0 +1,1133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.0.2 commit date:2023-12-05, commit time:07:41, hash:9be62e85b727</authoring_tool>
+    </contributor>
+    <created>2024-04-13T08:54:28</created>
+    <modified>2024-04-13T08:54:28</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Shape_125-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.411765 0.411765 0.411765 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Shape_114-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
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3602 11778 11778 1937 3602 11779 11779 1924 3602 11780 11780 1924 3603 11781 11781 1937 3603 11782 11782 1935 3603 11783 11783 1924 3604 11784 11784 1935 3604 11785 11785 1928 3604 11786 11786 1928 3605 11787 11787 1935 3605 11788 11788 1933 3605 11789 11789 1928 3606 11790 11790 1933 3606 11791 11791 1920 3606 11792 11792 1932 3607 11793 11793 1920 3607 11794 11794 1933 3607 11795 11795 1919 3608 11796 11796 1920 3608 11797 11797 1932 3608 11798 11798 1919 3609 11799 11799 1932 3609 11800 11800 1934 3609 11801 11801 1919 3610 11802 11802 1934 3610 11803 11803 1921 3610 11804 11804 1921 3611 11805 11805 1934 3611 11806 11806 1936 3611 11807 11807 1921 3612 11808 11808 1936 3612 11809 11809 1925 3612 11810 11810 1925 3613 11811 11811 1936 3613 11812 11812 1938 3613 11813 11813 1925 3614 11814 11814 1938 3614 11815 11815 1927 3614 11816 11816 1937 3615 11817 11817 1927 3615 11818 11818 1938 3615 11819 11819 1925 3616 11820 11820 1923 3616 11821 11821 1921 3616 11822 11822 1919 3617 11823 11823 1918 3617 11824 11824 1920 3617 11825 11825 1928 3618 11826 11826 1920 3618 11827 11827 1922 3618 11828 11828 1928 3619 11829 11829 1922 3619 11830 11830 1924 3619 11831 11831 1930 3620 11832 11832 1940 3620 11833 11833 1929 3620 11834 11834 1929 3621 11835 11835 1940 3621 11836 11836 1939 3621 11837 11837 1929 3622 11838 11838 1931 3622 11839 11839 1930 3622 11840 11840 1929 3623 11841 11841 1941 3623 11842 11842 1931 3623 11843 11843 1929 3624 11844 11844 1939 3624 11845 11845 1941 3624 11846 11846 1873 3625 11847 11847 1835 3625 11848 11848 1837 3625 11849 11849 1868 3626 11850 11850 1828 3626 11851 11851 1865 3626 11852 11852 1865 3627 11853 11853 1828 3627 11854 11854 1825 3627 11855 11855</p>
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+          <input semantic="COLOR" source="#Shape_IndexedFaceSet_086-mesh-colors-Col" offset="3" set="0"/>
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+          <p>3270 5992 19719 19719 3261 5992 19720 19720 3277 5992 19721 19721 3277 5993 19722 19722 3261 5993 19723 19723 3278 5993 19724 19724 3273 5994 19725 19725 3268 5994 19726 19726 3262 5994 19727 19727 3273 5995 19728 19728 3262 5995 19729 19729 3270 5995 19730 19730 3270 5996 19731 19731 3262 5996 19732 19732 3259 5996 19733 19733 3270 5997 19734 19734 3259 5997 19735 19735 3261 5997 19736 19736 3280 5998 19737 19737 3268 5998 19738 19738 3273 5998 19739 19739 3277 5999 19740 19740 3278 5999 19741 19741 3292 5999 19742 19742 3277 6000 19743 19743 3292 6000 19744 19744 3289 6000 19745 19745 3289 6001 19746 19746 3282 6001 19747 19747 3280 6001 19748 19748 3280 6002 19749 19749 3282 6002 19750 19750 3268 6002 19751 19751 3289 6003 19752 19752 3292 6003 19753 19753 3282 6003 19754 19754 3290 6004 19755 19755 3279 6004 19756 19756 3276 6004 19757 19757 3276 6005 19758 19758 3279 6005 19759 19759 3264 6005 19760 19760 3276 6006 19761 19761 3264 6006 19762 19762 3260 6006 19763 19763 3260 6007 19764 19764 3264 6007 19765 19765 3258 6007 19766 19766 3258 6008 19767 19767 3264 6008 19768 19768 3265 6008 19769 19769 3258 6009 19770 19770 3265 6009 19771 19771 3263 6009 19772 19772 3263 6010 19773 19773 3265 6010 19774 19774 3283 6010 19775 19775 3263 6011 19776 19776 3283 6011 19777 19777 3291 6011 19778 19778 3291 6012 19779 19779 3283 6012 19780 19780 3288 6012 19781 19781 3291 6013 19782 19782 3288 6013 19783 19783 3290 6013 19784 19784 3290 6014 19785 19785 3288 6014 19786 19786 3279 6014 19787 19787 3263 6015 19788 19788 3261 6015 19789 19789 3258 6015 19790 19790 3258 6016 19791 19791 3261 6016 19792 19792 3259 6016 19793 19793 3258 6017 19794 19794 3259 6017 19795 19795 3260 6017 19796 19796 3259 6018 19797 19797 3262 6018 19798 19798 3260 6018 19799 19799 3260 6019 19800 19800 3262 6019 19801 19801 3268 6019 19802 19802 3260 6020 19803 19803 3268 6020 19804 19804 3276 6020 19805 19805 3276 6021 19806 19806 3268 6021 19807 19807 3282 6021 19808 19808 3276 6022 19809 19809 3282 6022 19810 19810 3290 6022 19811 19811 3282 6023 19812 19812 3292 6023 19813 19813 3290 6023 19814 19814 3290 6024 19815 19815 3292 6024 19816 19816 3291 6024 19817 19817 3291 6025 19818 19818 3292 6025 19819 19819 3278 6025 19820 19820 3291 6026 19821 19821 3278 6026 19822 19822 3263 6026 19823 19823 3263 6027 19824 19824 3278 6027 19825 19825 3261 6027 19826 19826 3269 6028 19827 19827 3284 6028 19828 19828 3272 6028 19829 19829 3286 6029 19830 19830 3284 6029 19831 19831 3269 6029 19832 19832 3269 6030 19833 19833 3272 6030 19834 19834 3267 6030 19835 19835 3272 6031 19836 19836 3265 6031 19837 19837 3266 6031 19838 19838 3272 6032 19839 19839 3266 6032 19840 19840 3267 6032 19841 19841 3266 6033 19842 19842 3264 6033 19843 19843 3267 6033 19844 19844 3267 6034 19845 19845 3264 6034 19846 19846 3269 6034 19847 19847 3269 6035 19848 19848 3264 6035 19849 19849 3279 6035 19850 19850 3279 6036 19851 19851 3288 6036 19852 19852 3269 6036 19853 19853 3269 6037 19854 19854 3288 6037 19855 19855 3286 6037 19856 19856 3286 6038 19857 19857 3288 6038 19858 19858 3284 6038 19859 19859 3284 6039 19860 19860 3288 6039 19861 19861 3283 6039 19862 19862 3284 6040 19863 19863 3283 6040 19864 19864 3272 6040 19865 19865 3283 6041 19866 19866 3265 6041 19867 19867 3272 6041 19868 19868 3274 6042 19869 19869 3271 6042 19870 19870 3281 6042 19871 19871 3287 6043 19872 19872 3274 6043 19873 19873 3281 6043 19874 19874 3285 6044 19875 19875 3287 6044 19876 19876 3281 6044 19877 19877 3275 6045 19878 19878 3285 6045 19879 19879 3281 6045 19880 19880 3271 6046 19881 19881 3275 6046 19882 19882 3281 6046 19883 19883 3273 6047 19884 19884 3274 6047 19885 19885 3280 6047 19886 19886 3270 6048 19887 19887 3271 6048 19888 19888 3274 6048 19889 19889 3270 6049 19890 19890 3274 6049 19891 19891 3273 6049 19892 19892 3270 6050 19893 19893 3275 6050 19894 19894 3271 6050 19895 19895 3275 6051 19896 19896 3270 6051 19897 19897 3277 6051 19898 19898 3275 6052 19899 19899 3277 6052 19900 19900 3285 6052 19901 19901 3289 6053 19902 19902 3287 6053 19903 19903 3285 6053 19904 19904 3289 6054 19905 19905 3285 6054 19906 19906 3277 6054 19907 19907 3280 6055 19908 19908 3274 6055 19909 19909 3287 6055 19910 19910 3280 6056 19911 19911 3287 6056 19912 19912 3289 6056 19913 19913 3265 6057 19914 19914 3264 6057 19915 19915 3266 6057 19916 19916</p>
+        </triangles>
+        <triangles material="Shape_148-material" count="64">
+          <input semantic="VERTEX" source="#Shape_IndexedFaceSet_086-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Shape_IndexedFaceSet_086-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Shape_IndexedFaceSet_086-mesh-map-0" offset="2" set="0"/>
+          <input semantic="COLOR" source="#Shape_IndexedFaceSet_086-mesh-colors-Col" offset="3" set="0"/>
+          <p>3304 6058 19917 19917 3296 6058 19918 19918 3312 6058 19919 19919 3312 6059 19920 19920 3296 6059 19921 19921 3313 6059 19922 19922 3306 6060 19923 19923 3297 6060 19924 19924 3304 6060 19925 19925 3304 6061 19926 19926 3297 6061 19927 19927 3294 6061 19928 19928 3304 6062 19929 19929 3294 6062 19930 19930 3296 6062 19931 19931 3315 6063 19932 19932 3297 6063 19933 19933 3306 6063 19934 19934 3312 6064 19935 19935 3313 6064 19936 19936 3325 6064 19937 19937 3312 6065 19938 19938 3325 6065 19939 19939 3324 6065 19940 19940 3324 6066 19941 19941 3323 6066 19942 19942 3315 6066 19943 19943 3315 6067 19944 19944 3323 6067 19945 19945 3297 6067 19946 19946 3324 6068 19947 19947 3325 6068 19948 19948 3323 6068 19949 19949 3303 6069 19950 19950 3314 6069 19951 19951 3308 6069 19952 19952 3303 6070 19953 19953 3308 6070 19954 19954 3293 6070 19955 19955 3293 6071 19956 19956 3308 6071 19957 19957 3298 6071 19958 19958 3293 6072 19959 19959 3298 6072 19960 19960 3295 6072 19961 19961 3295 6073 19962 19962 3298 6073 19963 19963 3302 6073 19964 19964 3295 6074 19965 19965 3302 6074 19966 19966 3310 6074 19967 19967 3310 6075 19968 19968 3302 6075 19969 19969 3322 6075 19970 19970 3310 6076 19971 19971 3322 6076 19972 19972 3326 6076 19973 19973 3326 6077 19974 19974 3322 6077 19975 19975 3314 6077 19976 19976 3326 6078 19977 19977 3314 6078 19978 19978 3303 6078 19979 19979 3295 6079 19980 19980 3299 6079 19981 19981 3296 6079 19982 19982 3295 6080 19983 19983 3296 6080 19984 19984 3294 6080 19985 19985 3295 6081 19986 19986 3294 6081 19987 19987 3293 6081 19988 19988 3294 6082 19989 19989 3297 6082 19990 19990 3293 6082 19991 19991 3293 6083 19992 19992 3297 6083 19993 19993 3303 6083 19994 19994 3303 6084 19995 19995 3297 6084 19996 19996 3319 6084 19997 19997 3303 6085 19998 19998 3319 6085 19999 19999 3323 6085 20000 20000 3303 6086 20001 20001 3323 6086 20002 20002 3326 6086 20003 20003 3326 6087 20004 20004 3323 6087 20005 20005 3325 6087 20006 20006 3326 6088 20007 20007 3325 6088 20008 20008 3313 6088 20009 20009 3326 6089 20010 20010 3313 6089 20011 20011 3310 6089 20012 20012 3310 6090 20013 20013 3313 6090 20014 20014 3299 6090 20015 20015 3310 6091 20016 20016 3299 6091 20017 20017 3295 6091 20018 20018 3318 6092 20019 20019 3316 6092 20020 20020 3301 6092 20021 20021 3300 6093 20022 20022 3307 6093 20023 20023 3318 6093 20024 20024 3318 6094 20025 20025 3301 6094 20026 20026 3300 6094 20027 20027 3301 6095 20028 20028 3302 6095 20029 20029 3298 6095 20030 20030 3301 6096 20031 20031 3298 6096 20032 20032 3300 6096 20033 20033 3300 6097 20034 20034 3298 6097 20035 20035 3307 6097 20036 20036 3298 6098 20037 20037 3308 6098 20038 20038 3307 6098 20039 20039 3307 6099 20040 20040 3308 6099 20041 20041 3314 6099 20042 20042 3307 6100 20043 20043 3314 6100 20044 20044 3318 6100 20045 20045 3318 6101 20046 20046 3314 6101 20047 20047 3322 6101 20048 20048 3318 6102 20049 20049 3322 6102 20050 20050 3316 6102 20051 20051 3322 6103 20052 20052 3302 6103 20053 20053 3316 6103 20054 20054 3316 6104 20055 20055 3302 6104 20056 20056 3301 6104 20057 20057 3323 6105 20058 20058 3319 6105 20059 20059 3297 6105 20060 20060 3296 6106 20061 20061 3299 6106 20062 20062 3313 6106 20063 20063 3309 6107 20064 20064 3305 6107 20065 20065 3317 6107 20066 20066 3321 6108 20067 20067 3309 6108 20068 20068 3317 6108 20069 20069 3320 6109 20070 20070 3321 6109 20071 20071 3317 6109 20072 20072 3311 6110 20073 20073 3320 6110 20074 20074 3317 6110 20075 20075 3305 6046 20076 20076 3311 6046 20077 20077 3317 6046 20078 20078 3306 6111 20079 20079 3309 6111 20080 20080 3315 6111 20081 20081 3304 6112 20082 20082 3305 6112 20083 20083 3309 6112 20084 20084 3304 6113 20085 20085 3309 6113 20086 20086 3306 6113 20087 20087 3304 6114 20088 20088 3311 6114 20089 20089 3305 6114 20090 20090 3311 6115 20091 20091 3304 6115 20092 20092 3312 6115 20093 20093 3311 6116 20094 20094 3312 6116 20095 20095 3320 6116 20096 20096 3324 6117 20097 20097 3321 6117 20098 20098 3320 6117 20099 20099 3324 6118 20100 20100 3320 6118 20101 20101 3312 6118 20102 20102 3315 6119 20103 20103 3309 6119 20104 20104 3321 6119 20105 20105 3315 6120 20106 20106 3321 6120 20107 20107 3324 6120 20108 20108</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Shape_IndexedFaceSet_011" name="Shape_IndexedFaceSet.011" type="NODE">
+        <matrix sid="transform">0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1</matrix>
+        <instance_geometry url="#Shape_IndexedFaceSet_086-mesh" name="Shape_IndexedFaceSet.011">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Shape_125-material" target="#Shape_125-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_114-material" target="#Shape_114-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_115-material" target="#Shape_115-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_116-material" target="#Shape_116-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_117-material" target="#Shape_117-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_118-material" target="#Shape_118-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_119-material" target="#Shape_119-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_120-material" target="#Shape_120-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_121-material" target="#Shape_121-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_122-material" target="#Shape_122-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_123-material" target="#Shape_123-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_124-material" target="#Shape_124-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_126-material" target="#Shape_126-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_127-material" target="#Shape_127-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_128-material" target="#Shape_128-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_129-material" target="#Shape_129-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_130-material" target="#Shape_130-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_131-material" target="#Shape_131-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_132-material" target="#Shape_132-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_133-material" target="#Shape_133-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_134-material" target="#Shape_134-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_135-material" target="#Shape_135-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_136-material" target="#Shape_136-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_137-material" target="#Shape_137-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_138-material" target="#Shape_138-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_139-material" target="#Shape_139-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_140-material" target="#Shape_140-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_141-material" target="#Shape_141-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_142-material" target="#Shape_142-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_143-material" target="#Shape_143-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_144-material" target="#Shape_144-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_145-material" target="#Shape_145-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_146-material" target="#Shape_146-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_147-material" target="#Shape_147-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Shape_148-material" target="#Shape_148-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/tri_omni/common.xacro b/robots/gimbalrotor/urdf/tri_omni/common.xacro
new file mode 100644
index 000000000..9dc4f545c
--- /dev/null
+++ b/robots/gimbalrotor/urdf/tri_omni/common.xacro
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor_common" >
+
+  <!-- general attribute -->
+  <baselink name="fc" />
+  <thrust_link name="thrust" />
+
+  <m_f_rate value="-0.0172" /> <!-- drug torque rate -->
+  <xacro:property name="max_force" value="18.0" /> <!-- [N] -->
+  <xacro:property name="min_force" value="1.0" /> <!-- [N] -->
+
+
+  <!-- friction -->
+  <xacro:macro name="friction" params="self">
+    <gazebo reference="link${self}">
+      <mu1>0.1</mu1>
+      <mu2>0.1</mu2>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="damping_factor" params="link">
+    <gazebo reference="${link}">
+      <dampingFactor>0.00</dampingFactor>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/robots/gimbalrotor/urdf/tri_omni/gimbalrotor.urdf.xacro b/robots/gimbalrotor/urdf/tri_omni/gimbalrotor.urdf.xacro
new file mode 100644
index 000000000..9526a3267
--- /dev/null
+++ b/robots/gimbalrotor/urdf/tri_omni/gimbalrotor.urdf.xacro
@@ -0,0 +1,262 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="gimbalrotor_link" >
+
+  <xacro:macro name="gimbalrotor_center_link" params="child1 child2 child3">
+    ## dummy
+    <link name="root">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="root_joint" type="fixed">
+      <parent link="root"/>
+      <child link="base_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    ## link
+    <link name="base_link">
+      <inertial>
+        <origin xyz="-0.082255 0.000157 0.014372" rpy="0 0 0"/>
+        <mass value="1.076"/>
+        <inertia
+            ixx="0.005338" iyy="0.006510" izz="0.01052"
+            ixy="0.00000" ixz="0.0000" iyz="0.00000"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/tri/mesh/trirotor_base_link.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.234 0.3 0.1"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <xacro:damping_factor link="base_link"/>
+
+    <link name="fc">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="fc_joint" type="fixed">
+      <child link="fc"/>
+      <parent link="base_link"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    ## dummy rotor arms
+    <link name="rotor_arm${child1}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child1}" type="fixed">
+      <parent link="base_link"/>
+      <child link="rotor_arm${child1}"/>
+      <origin rpy="0 0 ${-pi/2}" xyz="0 -0.154 0.051"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    <link name="rotor_arm${child2}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.0001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child2}" type="fixed">
+      <parent link="base_link"/>
+      <child link="rotor_arm${child2}"/>
+      <origin rpy="0 0 ${pi/2}" xyz="0 0.154 0.051"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    <link name="rotor_arm${child3}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.0001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+    <joint name="base_arm_joint${child3}" type="fixed">
+      <parent link="base_link"/>
+      <child link="rotor_arm${child3}"/>
+      <origin rpy="0 0 ${pi}" xyz="-0.214 0 0.051"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+    <xacro:friction self="base_link"/>
+  </xacro:macro>
+
+  <xacro:macro name="gimbalrotor_thrust_link" params="self rotor_direction">
+    ## link
+    #### gimbal link (roll) ####
+    <link name="gimbal_link_roll${self}">
+      <inertial>
+        <origin xyz="0.076255 0 0" rpy="0 0 0"/>
+        <mass value="0.07"/>
+        <inertia
+            ixx="0.00015" iyy="0.00008" izz="0.00019"
+            ixy="0.0000" ixz="-0.0000" iyz="0.00000"/>
+      </inertial>
+      <!-- <collision> -->
+      <!--   <origin xyz="0.076255 0 0" rpy="0 0 0"/> -->
+      <!--   <geometry> -->
+      <!--     <cylinder radius="0.1" length="0.1"/> -->
+      <!--   </geometry> -->
+      <!-- </collision> -->
+    </link>
+    <xacro:damping_factor link="gimbal_link_roll${self}"/>
+
+    #### gimbal link (pitch) ####
+    <link name="gimbal_link_pitch${self}">
+      <inertial>
+        <origin xyz="0.076255 0 0" rpy="0 0 0"/>
+        <mass value="0.07"/>
+        <inertia
+            ixx="0.00015" iyy="0.00008" izz="0.00019"
+            ixy="0.0000" ixz="-0.0000" iyz="0.00000"/>
+      </inertial>
+      <collision>
+        <origin xyz="0.076255 0 0" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.1" length="0.1"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 ${-pi/2}"/>
+        <geometry>
+          <mesh filename="package://gimbalrotor/urdf/tri/mesh/thrust_link_left_straight.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+    </link>
+    <xacro:damping_factor link="gimbal_link_pitch${self}"/>
+
+    ## rotor parent link (virtual)
+    <link name="rotor_parent${self}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.000001" ixy="0.0" ixz="0.0"
+            iyy="0.000001" iyz="0.0"
+            izz="0.000001"/>
+      </inertial>
+    </link>
+
+    ## thrust link (virtual)
+    <link name="thrust${self}">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.00001"/>
+        <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+      </inertial>
+    </link>
+    <xacro:damping_factor link="thrust${self}"/>
+
+    #### joints ####
+
+    #### gimbal joint (roll) ####
+    <joint name="gimbal${self}_roll" type="revolute">
+      <limit effort="6.6" lower="-2.0" upper="2.0" velocity="3.0"/>
+      <parent link="rotor_arm${self}"/>
+      <child link="gimbal_link_roll${self}"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="1 0 0"/>
+      <dynamics damping="0.8" friction="0.0"/>
+    </joint>
+
+    #### gimbal joint (pitch) ####
+    <joint name="gimbal${self}_pitch" type="revolute">
+      <limit effort="6.6" lower="-2.0" upper="2.0" velocity="3.0"/>
+      <parent link="gimbal_link_roll${self}"/>
+      <child link="gimbal_link_pitch${self}"/>
+      <origin rpy="0 0 ${pi/2}" xyz="0.0835 -0.0835 0"/>
+      <axis xyz="1 0 0"/>
+      <dynamics damping="0.8" friction="0.0"/>
+    </joint>
+
+    <transmission name="joint_tran_roll${self}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="gimbal${self}_roll">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="gimbal${self}_roll_servo">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="joint_tran${self}">
+      <type>transmission_integrface/SimpleTransmission</type>
+      <joint name="gimbal${self}_pitch">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="gimbal${self}_pitch_servo">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>    
+    #### rotor parent link joint (virtual) ####
+    <joint name="rotor_parent_link_joint${self}" type="fixed">
+      <parent link="gimbal_link_pitch${self}"/>
+      <child link="rotor_parent${self}"/>
+      <origin rpy="0 0 0" xyz="0.0835 0 0"/>
+      <axis xyz="0 0 ${rotor_direction}"/>
+    </joint>
+
+    #### rotor joint (virtual) ####
+    <joint name="rotor${self}" type="continuous">
+      <limit effort="100.0" lower="${min_force}" upper="${max_force}" velocity="0.5"/>
+      <parent link="rotor_parent${self}"/>
+      <child link="thrust${self}"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <axis xyz="0 0 ${rotor_direction}"/>
+    </joint>
+
+    <transmission name="rotor_tran${self}">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="rotor${self}">
+        <hardwareInterface>RotorInterface</hardwareInterface>
+      </joint>
+      <actuator name="rotor_actuator${self}">
+        <hardwareInterface>RotorInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+</robot>
diff --git a/robots/gimbalrotor/urdf/tri_omni/mesh/thrust_link_left_straight.dae b/robots/gimbalrotor/urdf/tri_omni/mesh/thrust_link_left_straight.dae
new file mode 100644
index 000000000..46811c2e6
--- /dev/null
+++ b/robots/gimbalrotor/urdf/tri_omni/mesh/thrust_link_left_straight.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>2023-04-04T16:48:56</created>
+    <modified>2023-04-04T16:48:56</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="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="thrust_link_left_straight_001-mesh" name="thrust link left straight.001">
+      <mesh>
+        <source id="thrust_link_left_straight_001-mesh-positions">
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+          <technique_common>
+            <accessor source="#thrust_link_left_straight_001-mesh-normals-array" count="7380" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="thrust_link_left_straight_001-mesh-vertices">
+          <input semantic="POSITION" source="#thrust_link_left_straight_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="9442">
+          <input semantic="VERTEX" source="#thrust_link_left_straight_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#thrust_link_left_straight_001-mesh-normals" offset="1"/>
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7196 4640 7196 4633 7196 4517 7197 4633 7197 4516 7197 4516 7198 4633 7198 4634 7198 4516 7199 4634 7199 4515 7199 4508 7200 4506 7200 4624 7200 4624 7201 4506 7201 4504 7201 4624 7202 4504 7202 4636 7202 4636 7203 4504 7203 4502 7203 4636 7204 4502 7204 4635 7204 4635 7205 4502 7205 4500 7205 4635 7206 4500 7206 4634 7206 4634 7207 4500 7207 4514 7207 4634 7208 4514 7208 4515 7208 3966 7209 4642 7209 4583 7209 4583 7210 4642 7210 4643 7210 4583 7211 4643 7211 4644 7211 4644 7212 4643 7212 4645 7212 4644 7213 4645 7213 4646 7213 4646 7214 4645 7214 4647 7214 4551 7215 4564 7215 4549 7215 4498 7216 4549 7216 4648 7216 4648 7217 4549 7217 4564 7217 4648 7218 4564 7218 4649 7218 4649 7219 4564 7219 4650 7219 4649 7220 4650 7220 4651 7220 4651 7221 4650 7221 4625 7221 4651 7222 4625 7222 4652 7222 4652 7223 4625 7223 4568 7223 4652 7224 4568 7224 4653 7224 4653 7225 4568 7225 4570 7225 4653 7226 4654 7226 4652 7226 4652 7227 4654 7227 4647 7227 4652 7228 4647 7228 4651 7228 4651 7229 4647 7229 4645 7229 4651 7230 4645 7230 4649 7230 4649 7231 4645 7231 4643 7231 4649 7232 4643 7232 4648 7232 4648 7233 4643 7233 4642 7233 4648 7234 4642 7234 4498 7234 4498 7235 4642 7235 3966 7235 4498 7236 3966 7236 3959 7236 3952 7237 3951 7237 4587 7237 4587 7238 3951 7238 4655 7238 4587 7239 4655 7239 4586 7239 4586 7240 4655 7240 4656 7240 4586 7241 4656 7241 4497 7241 4497 7242 4656 7242 4561 7242 3951 7243 4657 7243 4655 7243 4655 7244 4657 7244 4658 7244 4655 7245 4658 7245 4656 7245 4656 7246 4658 7246 4659 7246 4656 7247 4659 7247 4561 7247 4561 7248 4659 7248 4562 7248 4555 7249 4554 7249 4564 7249 4564 7250 4554 7250 4623 7250 4564 7251 4623 7251 4650 7251 4650 7252 4623 7252 4624 7252 4650 7253 4624 7253 4625 7253 4625 7254 4624 7254 4636 7254 4625 7255 4636 7255 4626 7255 4626 7256 4636 7256 4630 7256 4626 7257 4630 7257 4627 7257 4627 7258 4630 7258 4565 7258 4627 7259 4565 7259 4629 7259 4629 7260 4565 7260 4567 7260 4563 7261 4562 7261 4589 7261 4589 7262 4562 7262 4659 7262 4589 7263 4659 7263 4603 7263 4603 7264 4659 7264 4658 7264 4603 7265 4658 7265 4614 7265 4614 7266 4658 7266 4657 7266 4614 7267 4657 7267 4584 7267 4584 7268 4657 7268 3951 7268 4584 7269 3951 7269 3958 7269 4580 7270 4576 7270 4639 7270 4639 7271 4576 7271 4575 7271 4639 7272 4575 7272 4638 7272 4638 7273 4575 7273 4622 7273 4638 7274 4622 7274 4637 7274 4637 7275 4622 7275 4621 7275 4637 7276 4621 7276 4567 7276 4567 7277 4621 7277 4620 7277 4567 7278 4620 7278 4629 7278 4629 7279 4620 7279 4619 7279 4629 7280 4619 7280 4628 7280 4628 7281 4619 7281 4618 7281 4628 7282 4618 7282 4570 7282 4570 7283 4618 7283 4617 7283 4570 7284 4617 7284 4653 7284 4653 7285 4617 7285 4616 7285 4653 7286 4616 7286 4654 7286 4654 7287 4616 7287 4615 7287 4654 7288 4615 7288 4647 7288 4647 7289 4615 7289 4614 7289 4647 7290 4614 7290 4646 7290 4646 7291 4614 7291 4584 7291 4646 7292 4584 7292 4644 7292 4644 7293 4584 7293 4585 7293 4644 7294 4585 7294 4583 7294 4583 7295 4585 7295 3955 7295 4583 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275 4677 275 3950 275 4678 275 4678 275 3950 275 3944 275 4678 275 3944 275 4679 275 3944 275 3947 275 4679 275 4679 275 3947 275 3982 275 4679 275 3982 275 4680 275 4680 275 3982 275 4045 275 4680 275 4045 275 4681 275 4681 275 4045 275 4040 275 4681 275 4040 275 4682 275 4682 275 4040 275 4026 275 4682 275 4026 275 4683 275 4683 275 4026 275 4005 275 4683 275 4005 275 4684 275 4684 275 4005 275 4001 275 4684 275 4001 275 4685 275 4685 275 4001 275 3994 275 4685 275 3994 275 4674 275 4674 275 3994 275 3989 275 4674 275 3989 275 3991 275 4686 7306 4687 7306 4688 7306 4688 7307 4687 7307 4689 7307 4688 7308 4689 7308 4690 7308 4690 7309 4689 7309 4691 7309 4690 7310 4691 7310 4692 7310 4692 7311 4691 7311 4693 7311 4692 7312 4693 7312 4694 7312 4694 7313 4693 7313 4695 7313 4694 7314 4695 7314 4696 7314 4696 7315 4695 7315 4697 7315 4696 7316 4697 7316 4698 7316 4698 7317 4697 7317 4699 7317 4698 7318 4699 7318 4700 7318 4700 7319 4699 7319 4701 7319 4700 7320 4701 7320 4702 7320 4702 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7354 4694 7354 4694 7355 4672 7355 4673 7355 4694 7356 4673 7356 4692 7356 4692 7357 4673 7357 4662 7357 4692 7358 4662 7358 4690 7358 4690 7359 4662 7359 4663 7359 4690 7360 4663 7360 4688 7360 4688 7361 4663 7361 4664 7361 4688 7362 4664 7362 4686 7362 4686 7363 4664 7363 4665 7363 4686 7364 4665 7364 4708 7364 4708 7365 4665 7365 4666 7365 4708 7366 4666 7366 4706 7366 4706 7367 4666 7367 4667 7367 4706 7368 4667 7368 4704 7368 4704 7369 4667 7369 4668 7369 4704 7370 4668 7370 4702 7370 4702 7371 4668 7371 4669 7371 4702 7372 4669 7372 4700 7372 4700 7373 4669 7373 4670 7373 4700 7374 4670 7374 4698 7374 4698 7375 4670 7375 4671 7375 4698 7376 4671 7376 4696 7376 4696 7377 4671 7377 4672 7377 4375 7378 4374 7378 4395 7378 4395 7379 4374 7379 4387 7379</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="thrust_link_left_straight" name="thrust_link_left_straight" 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="#thrust_link_left_straight_001-mesh" name="thrust_link_left_straight">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/gimbalrotor/urdf/tri_omni/mesh/trirotor_base_link.dae b/robots/gimbalrotor/urdf/tri_omni/mesh/trirotor_base_link.dae
new file mode 100644
index 000000000..0f86dfcea
--- /dev/null
+++ b/robots/gimbalrotor/urdf/tri_omni/mesh/trirotor_base_link.dae
@@ -0,0 +1,5818 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.18 commit date:2023-05-22, commit time:12:04, hash:cb886aba06d5</authoring_tool>
+    </contributor>
+    <created>2023-06-17T17:23:11</created>
+    <modified>2023-06-17T17:23:11</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</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">1</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">1000</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>
+          <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">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="マテリアル_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.214033 0.214033 0.214033 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5814603 0 0.005383065 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_008-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1523232 0.1523232 0.1523232 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_009-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.004241526 0.004241526 0.004241526 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_010-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8829174 0.6648175 0.004439104 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">4</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.008967054 0 0.9848829 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01108721 0.01108721 0.01108721 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_006-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.1688895 0.1634393 0.1844673 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="マテリアル_005-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.2529409 0.2529409 0.2529409 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="マテリアル_002-material" name="マテリアル.002">
+      <instance_effect url="#マテリアル_002-effect"/>
+    </material>
+    <material id="マテリアル_004-material" name="マテリアル.004">
+      <instance_effect url="#マテリアル_004-effect"/>
+    </material>
+    <material id="マテリアル_008-material" name="マテリアル.008">
+      <instance_effect url="#マテリアル_008-effect"/>
+    </material>
+    <material id="マテリアル_009-material" name="マテリアル.009">
+      <instance_effect url="#マテリアル_009-effect"/>
+    </material>
+    <material id="マテリアル_010-material" name="マテリアル.010">
+      <instance_effect url="#マテリアル_010-effect"/>
+    </material>
+    <material id="マテリアル_001-material" name="マテリアル.001">
+      <instance_effect url="#マテリアル_001-effect"/>
+    </material>
+    <material id="マテリアル_007-material" name="マテリアル.007">
+      <instance_effect url="#マテリアル_007-effect"/>
+    </material>
+    <material id="マテリアル_006-material" name="マテリアル.006">
+      <instance_effect url="#マテリアル_006-effect"/>
+    </material>
+    <material id="マテリアル_005-material" name="マテリアル.005">
+      <instance_effect url="#マテリアル_005-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Base_link_trirotor_se_-_Servo_with_joint_base-4_CB3-25-7-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-4 CB3-25-7">
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1582 505 1583 293 1583 294 1583 893 1584 295 1584 291 1584 144 1585 524 1585 525 1585 525 1586 524 1586 894 1586 525 1587 894 1587 886 1587 886 1588 894 1588 895 1588 886 1589 895 1589 887 1589 887 1590 895 1590 896 1590 887 1591 896 1591 888 1591 888 1592 896 1592 897 1592 888 1593 897 1593 889 1593 889 1594 897 1594 898 1594 889 1595 898 1595 890 1595 890 1596 898 1596 899 1596 890 1597 899 1597 891 1597 891 1598 899 1598 893 1598 891 1599 893 1599 892 1599 892 1600 893 1600 291 1600 892 1601 291 1601 293 1601 142 1602 523 1602 524 1602 524 1603 523 1603 900 1603 524 1604 900 1604 894 1604 894 1605 900 1605 901 1605 894 1606 901 1606 895 1606 895 1607 901 1607 902 1607 895 1608 902 1608 896 1608 896 1609 902 1609 903 1609 896 1610 903 1610 897 1610 897 1611 903 1611 904 1611 897 1612 904 1612 898 1612 898 1613 904 1613 905 1613 898 1614 905 1614 899 1614 899 1615 905 1615 504 1615 899 1616 504 1616 893 1616 893 1617 504 1617 296 1617 893 1618 296 1618 295 1618 141 1619 522 1619 523 1619 523 1620 522 1620 906 1620 523 1621 906 1621 900 1621 900 1622 906 1622 907 1622 900 1623 907 1623 901 1623 901 1624 907 1624 908 1624 901 1625 908 1625 902 1625 902 1626 908 1626 909 1626 902 1627 909 1627 903 1627 903 1628 909 1628 910 1628 903 1629 910 1629 904 1629 904 1630 910 1630 911 1630 904 1631 911 1631 905 1631 905 1632 911 1632 912 1632 905 1633 912 1633 504 1633 504 1634 912 1634 299 1634 504 1635 299 1635 298 1635 913 1636 302 1636 301 1636 139 1637 521 1637 522 1637 522 1638 521 1638 914 1638 522 1639 914 1639 906 1639 906 1640 914 1640 915 1640 906 1641 915 1641 907 1641 907 1642 915 1642 916 1642 907 1643 916 1643 908 1643 908 1644 916 1644 917 1644 908 1645 917 1645 909 1645 909 1646 917 1646 918 1646 909 1647 918 1647 910 1647 910 1648 918 1648 919 1648 910 1649 919 1649 911 1649 911 1650 919 1650 913 1650 911 1651 913 1651 912 1651 912 1652 913 1652 301 1652 912 1653 301 1653 299 1653 137 1654 520 1654 521 1654 521 1655 520 1655 573 1655 521 1656 573 1656 914 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+    </geometry>
+    <geometry id="Base_link_trirotor_se_-_vim4_module-1_CB3-10-2-mesh" name="Base_link_trirotor_se - vim4_module-1 CB3-10-2">
+      <mesh>
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+              <param name="Y" type="float"/>
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+              <param name="Y" type="float"/>
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+        </triangles>
+      </mesh>
+    </geometry>
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+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-2-mesh" name="Base_link_trirotor_se - spinal_module-1 rubber_honbay-2">
+      <mesh>
+        <source id="Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-2-mesh-positions">
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2720 1420 2720 1419 2720 715 2721 714 2721 1419 2721 1419 2722 714 2722 1357 2722 1419 2723 1357 2723 1421 2723 1421 2724 1357 2724 1359 2724 1421 2725 1359 2725 57 2725 44 2726 43 2726 1422 2726 1422 2727 43 2727 1358 2727 1422 2728 1358 2728 714 2728 1422 2729 714 2729 1423 2729 1423 2730 1424 2730 1422 2730 1422 2731 1424 2731 1425 2731 1422 2732 1425 2732 44 2732 44 2733 1425 2733 47 2733 49 2734 47 2734 1426 2734 1426 2735 47 2735 1425 2735 1426 2736 1425 2736 1424 2736 1427 2737 1424 2737 1423 2737 1427 2738 1428 2738 1424 2738 1424 2739 1428 2739 1429 2739 1424 2740 1429 2740 1426 2740 1426 2741 1429 2741 50 2741 1426 2742 50 2742 49 2742 52 2743 50 2743 1430 2743 1430 2744 50 2744 1429 2744 1430 2745 1429 2745 1428 2745 712 2746 1428 2746 1427 2746 712 2747 1360 2747 1428 2747 1428 2748 1360 2748 1430 2748 1430 2749 1360 2749 1362 2749 1430 2750 1362 2750 52 2750 52 2751 1362 2751 1363 2751 32 2752 31 2752 1431 2752 1431 2753 31 2753 1361 2753 1431 2754 1361 2754 1432 2754 1432 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2930 1473 2930 70 2930 70 2931 1473 2931 72 2931 1471 2932 732 2932 1472 2932 1473 2933 1472 2933 1474 2933 1473 2934 1474 2934 72 2934 72 2935 1474 2935 73 2935 75 2936 73 2936 1475 2936 1475 2937 73 2937 1474 2937 1475 2938 1474 2938 1476 2938 1476 2939 1474 2939 1472 2939 1476 2940 1472 2940 732 2940 732 2941 711 2941 1476 2941 1476 2942 711 2942 1411 2942 1476 2943 1411 2943 1412 2943 1476 2944 1412 2944 1475 2944 1475 2945 1412 2945 1414 2945 1475 2946 1414 2946 75 2946 63 2947 62 2947 1477 2947 1477 2948 62 2948 1413 2948 1477 2949 1413 2949 1478 2949 1478 2950 1413 2950 1411 2950 1478 2951 1411 2951 713 2951 713 2952 1411 2952 711 2952 1478 2953 713 2953 1415 2953 1478 2954 1415 2954 1416 2954 1478 2955 1416 2955 1477 2955 1477 2956 1416 2956 1418 2956 1477 2957 1418 2957 63 2957</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-1-mesh" name="Base_link_trirotor_se - spinal_module-1 rubber_honbay-1">
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+          </technique_common>
+        </source>
+        <vertices id="Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-1-mesh-vertices">
+          <input semantic="POSITION" source="#Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-1-mesh-positions"/>
+        </vertices>
+        <triangles material="マテリアル_001-material" count="2958">
+          <input semantic="VERTEX" source="#Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-1-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Base_link_trirotor_se_-_spinal_module-1_rubber_honbay-1-mesh-normals" offset="1"/>
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2447 386 2447 386 2448 1292 2448 1253 2448 1254 2449 1293 2449 392 2449 392 2450 1293 2450 1255 2450 1256 2451 1318 2451 381 2451 381 2452 1318 2452 1294 2452 381 2453 1294 2453 382 2453 382 2454 1294 2454 371 2454 371 2455 1294 2455 1295 2455 371 2456 1295 2456 380 2456 380 2457 1295 2457 1296 2457 380 2458 1296 2458 379 2458 379 2459 1296 2459 1257 2459 1257 2460 1297 2460 375 2460 375 2461 1297 2461 1298 2461 375 2462 1298 2462 367 2462 367 2463 1298 2463 1299 2463 367 2464 1299 2464 368 2464 368 2465 1299 2465 357 2465 357 2466 1299 2466 1300 2466 357 2467 1300 2467 366 2467 366 2468 1300 2468 1258 2468 1258 2469 1301 2469 363 2469 363 2470 1301 2470 1302 2470 363 2471 1302 2471 361 2471 361 2472 1302 2472 1259 2472 1245 2473 1303 2473 343 2473 343 2474 1303 2474 1260 2474 1263 2475 1304 2475 339 2475 339 2476 1304 2476 1305 2476 339 2477 1305 2477 340 2477 340 2478 1305 2478 1306 2478 340 2479 1306 2479 329 2479 329 2480 1306 2480 1307 2480 329 2481 1307 2481 338 2481 338 2482 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2719 1421 2720 1422 2720 1423 2720 1423 2721 1422 2721 58 2721 701 2722 703 2722 1420 2722 1422 2723 1420 2723 1424 2723 1422 2724 1424 2724 58 2724 58 2725 1424 2725 57 2725 55 2726 57 2726 1425 2726 1425 2727 57 2727 1424 2727 1425 2728 1424 2728 1361 2728 1361 2729 1424 2729 1420 2729 1361 2730 1420 2730 703 2730 1425 2731 1361 2731 1363 2731 1425 2732 1363 2732 1364 2732 1425 2733 1364 2733 55 2733 44 2734 43 2734 1426 2734 1426 2735 43 2735 1362 2735 1426 2736 1362 2736 1427 2736 1427 2737 1362 2737 704 2737 1426 2738 1427 2738 1428 2738 1426 2739 1428 2739 44 2739 44 2740 1428 2740 47 2740 49 2741 47 2741 1429 2741 1429 2742 47 2742 1428 2742 1429 2743 1428 2743 1427 2743 1429 2744 1427 2744 1430 2744 1430 2745 1427 2745 704 2745 1430 2746 1431 2746 1429 2746 1429 2747 1431 2747 1432 2747 1429 2748 1432 2748 49 2748 49 2749 1432 2749 50 2749 52 2750 50 2750 1433 2750 1433 2751 50 2751 1432 2751 1433 2752 1432 2752 1431 2752 702 2753 1431 2753 1430 2753 702 2754 1365 2754 1431 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2789 19 2790 1444 2790 22 2790 24 2791 22 2791 1445 2791 1445 2792 22 2792 1444 2792 1445 2793 1444 2793 1446 2793 1446 2794 1444 2794 1443 2794 1445 2795 1446 2795 1447 2795 1445 2796 1447 2796 24 2796 24 2797 1447 2797 26 2797 28 2798 26 2798 1448 2798 1448 2799 26 2799 1447 2799 1448 2800 1447 2800 1446 2800 1448 2801 1446 2801 709 2801 709 2802 1372 2802 1448 2802 1448 2803 1372 2803 1374 2803 1448 2804 1374 2804 28 2804 28 2805 1374 2805 30 2805 7 2806 6 2806 1449 2806 1449 2807 6 2807 1373 2807 1449 2808 1373 2808 1450 2808 1450 2809 1373 2809 708 2809 708 2810 710 2810 1450 2810 1450 2811 710 2811 1376 2811 1450 2812 1376 2812 1449 2812 1449 2813 1376 2813 1378 2813 1449 2814 1378 2814 7 2814 710 2815 715 2815 1375 2815 1377 2816 1375 2816 1451 2816 1377 2817 1451 2817 13 2817 1377 2818 13 2818 11 2818 15 2819 13 2819 1451 2819 15 2820 1451 2820 1452 2820 1452 2821 1451 2821 1375 2821 1452 2822 1375 2822 1380 2822 1380 2823 1375 2823 715 2823 715 2824 718 2824 1380 2824 1452 2825 1380 2825 1381 2825 1452 2826 1381 2826 15 2826 15 2827 1381 2827 17 2827 1 2828 0 2828 1382 2828 1 2829 1382 2829 1453 2829 1453 2830 1382 2830 1379 2830 1453 2831 1379 2831 725 2831 725 2832 1379 2832 718 2832 725 2833 1383 2833 1453 2833 1453 2834 1383 2834 1385 2834 1453 2835 1385 2835 1 2835 1 2836 1385 2836 1386 2836 727 2837 1454 2837 1384 2837 1384 2838 1454 2838 1455 2838 1384 2839 1455 2839 5 2839 5 2840 1455 2840 109 2840 111 2841 109 2841 1456 2841 1456 2842 109 2842 1455 2842 1456 2843 1455 2843 1457 2843 1457 2844 1455 2844 1454 2844 1457 2845 1454 2845 726 2845 726 2846 1454 2846 727 2846 1457 2847 726 2847 1387 2847 1457 2848 1387 2848 1456 2848 1456 2849 1387 2849 1389 2849 1456 2850 1389 2850 111 2850 111 2851 1389 2851 113 2851 116 2852 114 2852 1458 2852 1458 2853 114 2853 1388 2853 1458 2854 1388 2854 1459 2854 1459 2855 1388 2855 726 2855 1459 2856 726 2856 711 2856 1459 2857 711 2857 1390 2857 1459 2858 1390 2858 1391 2858 1459 2859 1391 2859 1458 2859 1458 2860 1391 2860 1393 2860 1458 2861 1393 2861 116 2861 98 2862 97 2862 1392 2862 1460 2863 1392 2863 1390 2863 1460 2864 1390 2864 719 2864 101 2865 98 2865 1461 2865 1461 2866 98 2866 1392 2866 1461 2867 1392 2867 1460 2867 719 2868 720 2868 1460 2868 1460 2869 720 2869 1395 2869 1460 2870 1395 2870 1461 2870 1461 2871 1395 2871 101 2871 101 2872 1395 2872 103 2872 106 2873 104 2873 1462 2873 1462 2874 104 2874 1396 2874 1462 2875 1396 2875 1394 2875 1462 2876 1394 2876 713 2876 713 2877 1394 2877 720 2877 713 2878 1397 2878 1462 2878 1462 2879 1397 2879 1399 2879 1462 2880 1399 2880 106 2880 106 2881 1399 2881 1401 2881 88 2882 87 2882 1400 2882 88 2883 1400 2883 1398 2883 1463 2884 1398 2884 712 2884 91 2885 88 2885 1464 2885 1464 2886 88 2886 1398 2886 1464 2887 1398 2887 1463 2887 716 2888 1463 2888 712 2888 716 2889 1402 2889 1463 2889 1463 2890 1402 2890 1403 2890 1463 2891 1403 2891 1464 2891 1464 2892 1403 2892 1404 2892 1464 2893 1404 2893 91 2893 95 2894 93 2894 1465 2894 1465 2895 93 2895 1403 2895 1465 2896 1403 2896 1405 2896 1405 2897 1403 2897 1402 2897 1405 2898 1402 2898 717 2898 717 2899 721 2899 1405 2899 1465 2900 1405 2900 1407 2900 1465 2901 1407 2901 95 2901 95 2902 1407 2902 1409 2902 76 2903 75 2903 1408 2903 76 2904 1408 2904 1466 2904 1466 2905 1408 2905 1406 2905 79 2906 76 2906 1467 2906 1467 2907 76 2907 1466 2907 1467 2908 1466 2908 1406 2908 1467 2909 1406 2909 1468 2909 1468 2910 1406 2910 721 2910 1468 2911 1469 2911 1467 2911 1467 2912 1469 2912 79 2912 79 2913 1469 2913 81 2913 1468 2914 714 2914 1469 2914 1469 2915 714 2915 1470 2915 1469 2916 1470 2916 81 2916 81 2917 1470 2917 82 2917 84 2918 82 2918 1471 2918 1471 2919 82 2919 1470 2919 1471 2920 1470 2920 1472 2920 1472 2921 1470 2921 714 2921 714 2922 722 2922 1472 2922 1472 2923 722 2923 1410 2923 1472 2924 1410 2924 1471 2924 1471 2925 1410 2925 1412 2925 1471 2926 1412 2926 84 2926 84 2927 1412 2927 1413 2927 65 2928 64 2928 1473 2928 1473 2929 64 2929 1411 2929 1473 2930 1411 2930 1474 2930 1474 2931 1411 2931 722 2931 1474 2932 722 2932 723 2932 68 2933 65 2933 1473 2933 1474 2934 723 2934 1475 2934 1474 2935 1475 2935 1473 2935 1473 2936 1475 2936 1476 2936 1473 2937 1476 2937 68 2937 68 2938 1476 2938 70 2938 723 2939 724 2939 1475 2939 1476 2940 1475 2940 1477 2940 1476 2941 1477 2941 70 2941 70 2942 1477 2942 71 2942 73 2943 71 2943 1478 2943 1478 2944 71 2944 1477 2944 1478 2945 1477 2945 1475 2945 1478 2946 1475 2946 1414 2946 1414 2947 1475 2947 724 2947 724 2948 701 2948 1414 2948 1478 2949 1414 2949 1416 2949 1478 2950 1416 2950 1418 2950 1478 2951 1418 2951 73 2951 61 2952 60 2952 1417 2952 61 2953 1417 2953 1421 2953 1421 2954 1417 2954 1415 2954 1421 2955 1415 2955 1419 2955 1419 2956 1415 2956 701 2956 61 2957 1421 2957 1423 2957</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Base_link_trirotor_se_-_spinal_module-1_CB3-12-8-mesh" name="Base_link_trirotor_se - spinal_module-1 CB3-12-8">
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412 2220 609 2220 609 2221 412 2221 410 2221 609 2222 410 2222 607 2222 607 2223 410 2223 418 2223 607 2224 418 2224 398 2224 607 2225 398 2225 605 2225 605 2226 398 2226 417 2226 605 2227 417 2227 603 2227 603 2228 417 2228 414 2228 620 2229 469 2229 618 2229 618 2230 469 2230 634 2230 634 2231 469 2231 471 2231 634 2232 471 2232 632 2232 632 2233 471 2233 467 2233 632 2234 467 2234 629 2234 629 2235 467 2235 466 2235 629 2236 466 2236 627 2236 627 2237 466 2237 465 2237 627 2238 465 2238 625 2238 625 2239 465 2239 464 2239 625 2240 464 2240 623 2240 623 2241 464 2241 462 2241 623 2242 462 2242 620 2242 620 2243 462 2243 463 2243 620 2244 463 2244 469 2244 552 2245 1303 2245 553 2245 553 2246 1303 2246 1304 2246 553 2247 1304 2247 554 2247 554 2248 1304 2248 1305 2248 554 2249 1305 2249 555 2249 555 2250 1305 2250 1306 2250 555 2251 1306 2251 556 2251 556 2252 1306 2252 1307 2252 556 2253 1307 2253 559 2253 559 2254 1307 2254 1308 2254 559 2255 1308 2255 1309 2255 559 2256 1309 2256 560 2256 560 2257 1309 2257 1310 2257 560 2258 1310 2258 561 2258 561 2259 1310 2259 1311 2259 561 2260 1311 2260 562 2260 1311 2261 1312 2261 562 2261 562 2262 1312 2262 563 2262 563 2263 1312 2263 1313 2263 563 2264 1313 2264 564 2264 564 2265 1313 2265 1314 2265 564 2266 1314 2266 545 2266 545 2267 1314 2267 1315 2267 545 2268 1315 2268 546 2268 546 2269 1315 2269 1316 2269 546 2270 1316 2270 547 2270 547 2271 1316 2271 1317 2271 547 2272 1317 2272 550 2272 550 2273 1317 2273 1318 2273 550 2274 1318 2274 1319 2274 550 2275 1319 2275 551 2275 551 2276 1319 2276 1320 2276 551 2277 1320 2277 552 2277 552 2278 1320 2278 1303 2278 1321 2279 1311 2279 1310 2279 1321 2280 1310 2280 1309 2280 1321 2281 1309 2281 1322 2281 1322 2282 1309 2282 1308 2282 1322 2283 1308 2283 1323 2283 1322 2284 1323 2284 1307 2284 1322 2285 1307 2285 1324 2285 1324 2286 1307 2286 1306 2286 1324 2287 1306 2287 1325 2287 1325 2288 1306 2288 1305 2288 1325 2289 1305 2289 1304 2289 1325 2290 1304 2290 1326 2290 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1389 2391 1390 2391 1377 2391 1385 2392 1388 2392 1389 2392 1329 2393 1391 2393 1387 2393 1383 2394 1350 2394 1374 2394 1350 2395 1383 2395 1392 2395 1350 2396 1392 2396 1382 2396 1350 2397 1382 2397 1351 2397 1331 2398 1378 2398 1329 2398 1329 2399 1378 2399 1391 2399 1329 2400 1387 2400 1386 2400 1329 2401 1386 2401 1328 2401 1331 2402 1379 2402 1378 2402 1327 2403 1383 2403 1372 2403 1372 2404 1383 2404 1374 2404 1355 2405 1353 2405 1333 2405 1332 2406 1333 2406 1353 2406 1351 2407 1382 2407 1379 2407 1351 2408 1379 2408 1332 2408 1351 2409 1332 2409 1353 2409 1332 2410 1379 2410 1331 2410 1383 2411 1327 2411 1328 2411 1383 2412 1328 2412 1386 2412 1327 2413 1372 2413 1370 2413 1370 2414 1367 2414 1326 2414 1325 2415 1367 2415 1365 2415 1370 2416 1326 2416 1327 2416 1367 2417 1325 2417 1326 2417 1364 2418 1324 2418 1365 2418 1360 2419 1322 2419 1364 2419 1364 2420 1322 2420 1324 2420 1365 2421 1324 2421 1325 2421 1355 2422 1334 2422 1358 2422 1358 2423 1334 2423 1321 2423 1355 2424 1333 2424 1334 2424 1358 2425 1321 2425 1360 2425 1360 2426 1321 2426 1322 2426</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Base_link_trirotor_se_-_Servo_with_joint_base-1_Joint_flame-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-1 Joint_flame">
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+      <node id="Base_link_trirotor_se_-_Servo_with_joint_base-1_CB3-10-5" name="Base_link_trirotor_se - Servo_with_joint_base-1 CB3-10-5" 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="#Base_link_trirotor_se_-_Servo_with_joint_base-1_CB3-10-5-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-1 CB3-10-5">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Servo_with_joint_base-1_CB3-10-4" name="Base_link_trirotor_se - Servo_with_joint_base-1 CB3-10-4" 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="#Base_link_trirotor_se_-_Servo_with_joint_base-1_CB3-10-4-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-1 CB3-10-4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Servo_with_joint_base-1_Arm_supporter_3" name="Base_link_trirotor_se - Servo_with_joint_base-1 Arm_supporter_3" 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="#Base_link_trirotor_se_-_Servo_with_joint_base-1_Arm_supporter_3-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-1 Arm_supporter_3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Servo_with_joint_base-1_02157_SmallDiam" name="Base_link_trirotor_se - Servo_with_joint_base-1 02157_SmallDiam" 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="#Base_link_trirotor_se_-_Servo_with_joint_base-1_02157_SmallDiam-mesh" name="Base_link_trirotor_se - Servo_with_joint_base-1 02157_SmallDiam">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Servo_cable-4" name="Base_link_trirotor_se - Servo_cable-4" 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="#Base_link_trirotor_se_-_Servo_cable-4-mesh" name="Base_link_trirotor_se - Servo_cable-4"/>
+      </node>
+      <node id="Base_link_trirotor_se_-_Servo_cable-3" name="Base_link_trirotor_se - Servo_cable-3" 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="#Base_link_trirotor_se_-_Servo_cable-3-mesh" name="Base_link_trirotor_se - Servo_cable-3"/>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-17" name="Base_link_trirotor_se - Main_shaft_clamp_hole-17" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-17-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-17">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-16" name="Base_link_trirotor_se - Main_shaft_clamp_hole-16" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-16-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-16">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-15" name="Base_link_trirotor_se - Main_shaft_clamp_hole-15" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-15-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-15">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-14" name="Base_link_trirotor_se - Main_shaft_clamp_hole-14" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-14-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-14">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-13" name="Base_link_trirotor_se - Main_shaft_clamp_hole-13" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-13-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-13">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-12" name="Base_link_trirotor_se - Main_shaft_clamp_hole-12" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-12-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-12">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-11" name="Base_link_trirotor_se - Main_shaft_clamp_hole-11" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-11-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-11">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft_clamp_hole-10" name="Base_link_trirotor_se - Main_shaft_clamp_hole-10" 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="#Base_link_trirotor_se_-_Main_shaft_clamp_hole-10-mesh" name="Base_link_trirotor_se - Main_shaft_clamp_hole-10">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft-5" name="Base_link_trirotor_se - Main_shaft-5" 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="#Base_link_trirotor_se_-_Main_shaft-5-mesh" name="Base_link_trirotor_se - Main_shaft-5">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_Main_shaft-4" name="Base_link_trirotor_se - Main_shaft-4" 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="#Base_link_trirotor_se_-_Main_shaft-4-mesh" name="Base_link_trirotor_se - Main_shaft-4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-16" name="Base_link_trirotor_se - CB3-45-16" 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="#Base_link_trirotor_se_-_CB3-45-16-mesh" name="Base_link_trirotor_se - CB3-45-16">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-15" name="Base_link_trirotor_se - CB3-45-15" 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="#Base_link_trirotor_se_-_CB3-45-15-mesh" name="Base_link_trirotor_se - CB3-45-15">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-14" name="Base_link_trirotor_se - CB3-45-14" 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="#Base_link_trirotor_se_-_CB3-45-14-mesh" name="Base_link_trirotor_se - CB3-45-14">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-13" name="Base_link_trirotor_se - CB3-45-13" 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="#Base_link_trirotor_se_-_CB3-45-13-mesh" name="Base_link_trirotor_se - CB3-45-13">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-12" name="Base_link_trirotor_se - CB3-45-12" 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="#Base_link_trirotor_se_-_CB3-45-12-mesh" name="Base_link_trirotor_se - CB3-45-12">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-11" name="Base_link_trirotor_se - CB3-45-11" 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="#Base_link_trirotor_se_-_CB3-45-11-mesh" name="Base_link_trirotor_se - CB3-45-11">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-10" name="Base_link_trirotor_se - CB3-45-10" 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="#Base_link_trirotor_se_-_CB3-45-10-mesh" name="Base_link_trirotor_se - CB3-45-10">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-45-9" name="Base_link_trirotor_se - CB3-45-9" 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="#Base_link_trirotor_se_-_CB3-45-9-mesh" name="Base_link_trirotor_se - CB3-45-9">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-12-17" name="Base_link_trirotor_se - CB3-12-17" 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="#Base_link_trirotor_se_-_CB3-12-17-mesh" name="Base_link_trirotor_se - CB3-12-17">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-12-16" name="Base_link_trirotor_se - CB3-12-16" 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="#Base_link_trirotor_se_-_CB3-12-16-mesh" name="Base_link_trirotor_se - CB3-12-16">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-12-15" name="Base_link_trirotor_se - CB3-12-15" 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="#Base_link_trirotor_se_-_CB3-12-15-mesh" name="Base_link_trirotor_se - CB3-12-15">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-12-14" name="Base_link_trirotor_se - CB3-12-14" 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="#Base_link_trirotor_se_-_CB3-12-14-mesh" name="Base_link_trirotor_se - CB3-12-14">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-10-4" name="Base_link_trirotor_se - CB3-10-4" 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="#Base_link_trirotor_se_-_CB3-10-4-mesh" name="Base_link_trirotor_se - CB3-10-4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-10-3" name="Base_link_trirotor_se - CB3-10-3" 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="#Base_link_trirotor_se_-_CB3-10-3-mesh" name="Base_link_trirotor_se - CB3-10-3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-10-2" name="Base_link_trirotor_se - CB3-10-2" 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="#Base_link_trirotor_se_-_CB3-10-2-mesh" name="Base_link_trirotor_se - CB3-10-2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Base_link_trirotor_se_-_CB3-10-1" name="Base_link_trirotor_se - CB3-10-1" 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="#Base_link_trirotor_se_-_CB3-10-1-mesh" name="Base_link_trirotor_se - CB3-10-1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="マテリアル_002-material" target="#マテリアル_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/hydrus/CMakeLists.txt b/robots/hydrus/CMakeLists.txt
index 040716f83..ea23db2a8 100644
--- a/robots/hydrus/CMakeLists.txt
+++ b/robots/hydrus/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(hydrus)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
diff --git a/robots/hydrus/config/quad/NavigationConfig.yaml b/robots/hydrus/config/quad/NavigationConfig.yaml
index 7af89ae23..d798d1742 100644
--- a/robots/hydrus/config/quad/NavigationConfig.yaml
+++ b/robots/hydrus/config/quad/NavigationConfig.yaml
@@ -28,3 +28,9 @@ navigation:
   # gps waypoint
   gps_waypoint_threshold: 3.0
   gps_waypoint_check_du: 1.0
+
+  # trajectory
+  trajectory_min_du: 4.0
+  trajectory_mean_yaw_rate: 0.3
+  enable_latch_yaw_trajectory: false
+
diff --git a/robots/hydrus/config/rviz_config b/robots/hydrus/config/rviz_config
index 639270df2..b54e97ee1 100644
--- a/robots/hydrus/config/rviz_config
+++ b/robots/hydrus/config/rviz_config
@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 1267
+    Tree Height: 726
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -17,7 +17,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -28,6 +28,8 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -39,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -90,12 +92,6 @@ Visualization Manager:
           Value: true
         hydrus/pc:
           Value: true
-        hydrus/realsense1_pose_frame:
-          Value: true
-        hydrus/realsense2_pose_frame:
-          Value: true
-        hydrus/realsense_t265_modules_unit:
-          Value: true
         hydrus/root:
           Value: true
         hydrus/thrust1:
@@ -106,62 +102,53 @@ Visualization Manager:
           Value: true
         hydrus/thrust4:
           Value: true
-        hydrus/usb_hub:
-          Value: true
         world:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Scale: 0.30000001192092896
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        hydrus/root:
-          hydrus/cog:
-            world:
-              {}
-          hydrus/link1:
-            hydrus/bat1:
-              {}
-            hydrus/leg1:
+        world:
+          hydrus/root:
+            hydrus/cog:
               {}
-            hydrus/link2:
-              hydrus/fc:
+            hydrus/link1:
+              hydrus/bat1:
                 {}
-              hydrus/gps:
-                hydrus/magnet:
-                  {}
-              hydrus/leg2:
+              hydrus/leg1:
                 {}
-              hydrus/link3:
-                hydrus/leddarone:
+              hydrus/link2:
+                hydrus/fc:
                   {}
-                hydrus/leg3:
+                hydrus/gps:
+                  hydrus/magnet:
+                    {}
+                hydrus/leg2:
                   {}
-                hydrus/link4:
-                  hydrus/bat2:
+                hydrus/link3:
+                  hydrus/leddarone:
                     {}
-                  hydrus/leg4:
+                  hydrus/leg3:
                     {}
-                  hydrus/leg5:
+                  hydrus/link4:
+                    hydrus/bat2:
+                      {}
+                    hydrus/leg4:
+                      {}
+                    hydrus/leg5:
+                      {}
+                    hydrus/thrust4:
+                      {}
+                  hydrus/pc:
                     {}
-                  hydrus/thrust4:
+                  hydrus/thrust3:
                     {}
-                hydrus/pc:
-                  {}
-                hydrus/thrust3:
-                  {}
-                hydrus/usb_hub:
-                  {}
-              hydrus/realsense_t265_modules_unit:
-                hydrus/realsense1_pose_frame:
-                  {}
-                hydrus/realsense2_pose_frame:
+                hydrus/thrust2:
                   {}
-              hydrus/thrust2:
+              hydrus/thrust1:
                 {}
-            hydrus/thrust1:
-              {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -253,19 +240,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        realsense1_pose_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        realsense2_pose_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        realsense_t265_modules_unit:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         root:
           Alpha: 1
           Show Axes: false
@@ -290,17 +264,35 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        usb_hub:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: hydrus/robot_description
       TF Prefix: hydrus
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /hydrus/trajectory
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -316,7 +308,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -326,33 +321,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.86276007
+      Distance: 5.862760066986084
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.793922424
-        Y: 0.164019421
-        Z: 0.284362525
+        X: 0.7939224243164062
+        Y: 0.1640194207429886
+        Z: 0.2843625247478485
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.259797275
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.25979727506637573
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.61540174
+      Yaw: 3.6154017448425293
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1548
+  Height: 1023
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000582fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000582000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000582fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000582000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e00000003efc0100000002fb0000000800540069006d00650100000000000004e00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000025b0000058200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000361fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000361000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000361000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000026e0000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -361,6 +356,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1248
-  X: 957
-  Y: 24
+  Width: 1267
+  X: 653
+  Y: 27
diff --git a/robots/hydrus_xi/CMakeLists.txt b/robots/hydrus_xi/CMakeLists.txt
index 56dc5b1ba..45dc095f9 100644
--- a/robots/hydrus_xi/CMakeLists.txt
+++ b/robots/hydrus_xi/CMakeLists.txt
@@ -1,19 +1,13 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(hydrus_xi)
 
-add_compile_options(-std=c++14)
+add_compile_options(-std=c++17)
 
 find_package(catkin REQUIRED COMPONENTS
-  aerial_robot_base
-  aerial_robot_control
-  aerial_robot_model
-  aerial_robot_msgs
   angles
   hydrus
   mujoco_ros_control
   roscpp
-  rospy
-  spinal
   )
 
 find_package(NLopt REQUIRED)
@@ -22,7 +16,7 @@ find_package(OsqpEigen REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES  hydrus_xi_fully_actuated_robot_model
-  CATKIN_DEPENDS  aerial_robot_base aerial_robot_control aerial_robot_model aerial_robot_msgs angles hydrus roscpp rospy spinal
+  CATKIN_DEPENDS  angles hydrus roscpp
   )
 
 if(NOT CMAKE_BUILD_TYPE)
diff --git a/robots/hydrus_xi/package.xml b/robots/hydrus_xi/package.xml
index 0f4f163d0..bc855b06e 100644
--- a/robots/hydrus_xi/package.xml
+++ b/robots/hydrus_xi/package.xml
@@ -9,17 +9,14 @@
   <license>B.S.D</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>aerial_robot_base</depend>
-  <depend>aerial_robot_control</depend>
-  <depend>aerial_robot_model</depend>
-  <depend>aerial_robot_msgs</depend>
   <depend>angles</depend>
   <depend>hydrus</depend>
   <depend>mujoco_ros_control</depend>
   <depend>roscpp</depend>
-  <depend>rospy</depend>
-  <depend>spinal</depend>
 
+  <exec_depend>aerial_robot_base</exec_depend>
+  <exec_depend>aerial_robot_control</exec_depend>
+  <exec_depend>aerial_robot_model</exec_depend>
   <exec_depend>aerial_robot_simulation</exec_depend>
   <test_depend>rostest</test_depend>
 
diff --git a/robots/mini_quadrotor/CMakeLists.txt b/robots/mini_quadrotor/CMakeLists.txt
index 263c3bb9d..d8cc5a960 100644
--- a/robots/mini_quadrotor/CMakeLists.txt
+++ b/robots/mini_quadrotor/CMakeLists.txt
@@ -14,6 +14,11 @@ install(DIRECTORY config launch
   USE_SOURCE_PERMISSIONS
 )
 
+install(DIRECTORY bin
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
 mujoco_model_convert(
   ${PROJECT_SOURCE_DIR}
   ${PROJECT_SOURCE_DIR}/config/mujoco_model.yaml)
diff --git a/robots/mini_quadrotor/bin/rosbag_record.sh b/robots/mini_quadrotor/bin/rosbag_record.sh
new file mode 100755
index 000000000..01044cfa4
--- /dev/null
+++ b/robots/mini_quadrotor/bin/rosbag_record.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor} quadrotor/livox/lidar quadrotor/livox/imu quadrotor/Odometry quadrotor/Odometry_precede ${@:2}
diff --git a/robots/mini_quadrotor/config/Battery.yaml b/robots/mini_quadrotor/config/Battery.yaml
index cc7a84066..707e78ec5 100644
--- a/robots/mini_quadrotor/config/Battery.yaml
+++ b/robots/mini_quadrotor/config/Battery.yaml
@@ -1,5 +1,5 @@
 bat_info:
         bat_cell: 3
-        bat_resistance: 0.04 # [m Ohm]
-        hovering_current: 15 #[A]
-        low_voltage_thre: 10 #[100%]
+        bat_resistance: 0.05 # [m Ohm]
+        hovering_current: 22 #[A]
+        low_voltage_thre: 6 #[100%]
diff --git a/robots/mini_quadrotor/config/FlightControl.yaml b/robots/mini_quadrotor/config/FlightControl.yaml
index b1e1fe000..b41f6b2c9 100644
--- a/robots/mini_quadrotor/config/FlightControl.yaml
+++ b/robots/mini_quadrotor/config/FlightControl.yaml
@@ -4,7 +4,7 @@ controller:
   xy:
     p_gain: 5.0
     i_gain: 0.05
-    d_gain: 3.0
+    d_gain: 5.0
     limit_sum: 3
     limit_p: 3
     limit_i: 1.5
@@ -36,9 +36,9 @@ controller:
     gyro_moment_compensation: true
     clamp_gain: true
 
-    roll_pitch_p: 20
+    roll_pitch_p: 15 # 20
     roll_pitch_i: 0.5
-    roll_pitch_d: 0.15
+    roll_pitch_d: 0.5 # 1.0 #0.15
 
     yaw_p: 60
     yaw_i: 0.5
diff --git a/robots/mini_quadrotor/config/NavigationConfig.yaml b/robots/mini_quadrotor/config/NavigationConfig.yaml
index 9431be56e..3be65b0c6 100644
--- a/robots/mini_quadrotor/config/NavigationConfig.yaml
+++ b/robots/mini_quadrotor/config/NavigationConfig.yaml
@@ -8,7 +8,7 @@ navigation:
   # Attitude Control Mode: 4
 
 
-  takeoff_height: 1.0 #1.0
+  takeoff_height: 0.6 #1.0
   outdoor_takeoff_height: 1.5
 
   # teleop operation
diff --git a/robots/mini_quadrotor/config/StateEstimation.yaml b/robots/mini_quadrotor/config/StateEstimation.yaml
index 2dc2b44ef..763b1c712 100644
--- a/robots/mini_quadrotor/config/StateEstimation.yaml
+++ b/robots/mini_quadrotor/config/StateEstimation.yaml
@@ -4,6 +4,7 @@ estimation:
         sensor_list:
         - sensor_plugin/imu
         - sensor_plugin/mocap
+        - sensor_plugin/vo # Fast LIO
 
         # egomotion estimation
         egomotion_list:
@@ -45,3 +46,8 @@ sensor_plugin:
                 estimate_mode: 3 # 1<<0 + 1<<1
         mocap:
                 estimate_mode: 6 # 1<<1 + 1<<2
+        vo1:
+                estimate_mode: 1 # 1<<0
+                # fusion_mode: 2 # ONLY_POS_MODE = 0, ONLY_VEL_MODE = 1, POS_VEL_MODE = 2 (default)
+                # param_verbose: true
+                throttle_rate: 120 # Hz
diff --git a/robots/mini_quadrotor/launch/includes/sensors.launch.xml b/robots/mini_quadrotor/launch/includes/sensors.launch.xml
index 50075cd09..83365d451 100644
--- a/robots/mini_quadrotor/launch/includes/sensors.launch.xml
+++ b/robots/mini_quadrotor/launch/includes/sensors.launch.xml
@@ -16,11 +16,20 @@
 
         <!-- mocap -->
         <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch" />
+
+        <!-- livox mid360 & fast lio -->
+        <include file="$(find livox_ros_driver2)/launch_ROS1/msg_MID360.launch" />
+        <include file="$(find fast_lio)/launch/mapping_mid360.launch" >
+          <arg name="rviz" value="false" />
+        </include>
+
       </group>
     </group>
 
     <!-- basic configuration for sensors (e.g. noise sigma) -->
     <rosparam file="$(find aerial_robot_base)/config/sensors/imu/spinal.yaml" command="load" />
     <rosparam file="$(find aerial_robot_base)/config/sensors/mocap.yaml" command="load" />
+    <rosparam file="$(find aerial_robot_base)/config/sensors/lio/livox_mid360.yaml" command="load" />
   </group>
+
 </launch>
diff --git a/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae b/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae
new file mode 100644
index 000000000..c65ce2c58
--- /dev/null
+++ b/robots/mini_quadrotor/urdf/mesh/main_body_livox.dae
@@ -0,0 +1,322 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2023-06-02T05:02:00</created>
+    <modified>2023-06-02T05:02:00</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">39.59775</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>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</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">1</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">1000</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>
+          <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">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <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>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0 0.007027507 0.8000001 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8000001 0 0 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.01341096 0.01341096 0.01341096 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material_003-material" name="Material.003">
+      <instance_effect url="#Material_003-effect"/>
+    </material>
+    <material id="Material_002-material" name="Material.002">
+      <instance_effect url="#Material_002-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="mini_quadrotor_livox_blue-mesh" name="mini_quadrotor_livox_blue">
+      <mesh>
+        <source id="mini_quadrotor_livox_blue-mesh-positions">
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+          <technique_common>
+            <accessor source="#mini_quadrotor_livox_blue-mesh-normals-array" count="2895" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="mini_quadrotor_livox_blue-mesh-vertices">
+          <input semantic="POSITION" source="#mini_quadrotor_livox_blue-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_003-material" count="3058">
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+          <input semantic="NORMAL" source="#mini_quadrotor_livox_blue-mesh-normals" offset="1"/>
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+          <technique_common>
+            <accessor source="#mini_quadrotor_livox_red-mesh-normals-array" count="11682" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="mini_quadrotor_livox_red-mesh-vertices">
+          <input semantic="POSITION" source="#mini_quadrotor_livox_red-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_002-material" count="12656">
+          <input semantic="VERTEX" source="#mini_quadrotor_livox_red-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#mini_quadrotor_livox_red-mesh-normals" offset="1"/>
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11679 6305 11680 6304 11680 6333 11680 6304 11681 6335 11681 6333 11681</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="mini_quadrotor_livox_black-mesh" name="mini_quadrotor_livox_black">
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18879 12460 18880 12462 18880 12512 18880 12448 18881 12512 18881 12479 18881 12457 18882 12466 18882 12510 18882 12457 18883 12467 18883 12466 18883 12457 18884 12456 18884 12467 18884 12456 18885 12444 18885 12467 18885 12444 18886 12469 18886 12467 18886 12453 18887 12451 18887 12511 18887 12451 18888 12475 18888 12511 18888 12451 18889 12449 18889 12475 18889 12475 18890 12449 18890 12477 18890 12449 18891 12448 18891 12477 18891 12448 18892 12479 18892 12477 18892</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="mini_quadrotor_livox_blue" name="mini_quadrotor_livox_blue" 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="#mini_quadrotor_livox_blue-mesh" name="mini_quadrotor_livox_blue">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="mini_quadrotor_livox_silver" name="mini_quadrotor_livox_silver" 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="#mini_quadrotor_livox_silver-mesh" name="mini_quadrotor_livox_silver"/>
+      </node>
+      <node id="mini_quadrotor_livox_red" name="mini_quadrotor_livox_red" 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="#mini_quadrotor_livox_red-mesh" name="mini_quadrotor_livox_red">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="mini_quadrotor_livox_black" name="mini_quadrotor_livox_black" 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="#mini_quadrotor_livox_black-mesh" name="mini_quadrotor_livox_black">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/mini_quadrotor/urdf/robot.urdf.xacro b/robots/mini_quadrotor/urdf/robot.urdf.xacro
index 17ae53a12..ab2ddb69c 100644
--- a/robots/mini_quadrotor/urdf/robot.urdf.xacro
+++ b/robots/mini_quadrotor/urdf/robot.urdf.xacro
@@ -7,8 +7,8 @@
   <thrust_link name="thrust" />
 
   <!-- kinematics [m] -->
-  <xacro:property name="rotor_x" value="0.070" />
-  <xacro:property name="rotor_y" value="0.086" />
+  <xacro:property name="rotor_x" value="0.085" />
+  <xacro:property name="rotor_y" value="0.085" />
   <xacro:property name="rotor_z" value="0.026" />
 
   <!-- dynamics -->
@@ -106,17 +106,17 @@
   <!-- main_body -->
   <link name="main_body">
     <inertial>
-      <mass value = "0.432" />
-      <origin xyz="0 0 0.017" rpy="0 0 0"/>
+      <mass value = "0.832" /> 
+      <origin xyz="0.002 0 ${0.028 - 0.002}" rpy="0 0 0"/> <!-- TODO: true cog pos -->
       <inertia
-          ixx="0.0021" ixy="0" ixz="0"
-          iyy="0.0015" iyz="0"
-          izz="0.0032"/>
+          ixx="0.0030" ixy="0" ixz="0"
+          iyy="0.0030" iyz="0"
+          izz="0.0045"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://mini_quadrotor/urdf/mesh/main_body.dae" />
+        <mesh filename="package://mini_quadrotor/urdf/mesh/main_body_livox.dae" />
       </geometry>
     </visual>
     <collision>
@@ -139,9 +139,21 @@
     </inertial>
   </xacro:extra_module>
 
+  <!-- livox mid360 -->
+  <xacro:extra_module name = "lidar_imu" parent = "main_body" visible = "0" > <!-- should be IMU frame -->
+    <origin xyz="${0.011} ${0.02329} ${0.0425 + 0.047 - 0.04412}" rpy="0 0 0"/> <!-- TODO: the true pos -->
+    <inertial>
+      <mass value = "00" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia
+          ixx="0.0" ixy="0.0" ixz="0.0"
+          iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </xacro:extra_module>
+
   <!-- battery -->
   <xacro:extra_module name = "battery" parent = "main_body" visible = "1" model_url = "package://mini_quadrotor/urdf/mesh/turnigy_3S_2200mAh.dae" >
-    <origin xyz="0.0105 0 -0.012" rpy="0 0 0"/>
+    <origin xyz="0.0 0 -0.035" rpy="${pi/2} 0 0"/>
     <inertial>
       <mass value = "0.188" />
       <origin xyz="0 0 0" rpy="0 0 0"/>