I am working with the following SDF file when I gave takeoff command from qgc
only the prop spins and the drone did not take off here is my SDF file
I don’t know is the issue with mass of the drone
<sdf version='1.6'>
<model name='my_custom_droneo'>
<link name='base_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>2.2494</mass>
<inertia>
<ixx>0.024649</ixx>
<ixy>-7.8701E-06</ixy>
<ixz>-4.0429E-06</ixz>
<iyy>0.024447</iyy>
<iyz>-1.0355E-05</iyz>
<izz>0.046713</izz>
</inertia>
</inertial>
<collision name='base_link_inertia_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_inertia_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/base_link.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<link name='/imu_link'>
<pose>0 0 0.02 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='/imu_joint' type='revolute'>
<child>/imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_0'>
<pose>0.11217 -0.10398 0.12615 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0102857652690979</mass>
<inertia>
<ixx>1.4471352439084E-06</ixx>
<ixy>2.46724635603962E-11</ixy>
<ixz>2.61968213356202E-09</ixz>
<iyy>1.44713594954588E-06</iyy>
<iyz>2.61993099804036E-09</iyz>
<izz>1.72167745600157E-06</izz>
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_0_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/m1.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>-0.0095408 -0.0095408 -0.99991</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_1'>
<pose>-0.096433 0.10461 0.12615 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0102857478418043</mass>
<inertia>
<ixx>1.44713076137831E-06</ixx>
<ixy>2.29625650675118E-11</ixy>
<ixz>2.60557507064569E-09</ixz>
<iyy>1.4471320056128E-06</iyy>
<iyz>2.60579985646894E-09</iyz>
<izz>1.72167247935181E-06</izz>
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_1_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/m2.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>-0.0094894 -0.0094894 -0.99991</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_2'>
<pose>0.11165 0.1041 0.12615 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0102857800929994</mass>
<inertia>
<ixx>1.44709571315124E-06</ixx>
<ixy>4.31100888110847E-13</ixy>
<ixz>-1.44573959844029E-14</ixz>
<iyy>1.44709405962182E-06</iyy>
<iyz>4.1500658909426E-14</iyz>
<izz>1.72177328424404E-06</izz>
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_2_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/m3.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_3'>
<pose>-0.096947 -0.1045 0.12615 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0102857482454295</mass>
<inertia>
<ixx>1.44709040698161E-06</ixx>
<ixy>-9.15033797187728E-13</ixy>
<ixz>-5.3723169747007E-14</ixz>
<iyy>1.44709203266332E-06</iyy>
<iyz>-2.82333857319929E-14</iyz>
<izz>1.72176589016756E-06</izz>
</inertia>
</inertial>
<collision name='rotor_3_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_3_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/m4.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='snrFront'>
<pose>0.18415 -0.00064622 0.046998 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0102857482454295</mass>
<inertia>
<ixx>1.19955441736062E-05</ixx>
<ixy>4.71164873249512E-10</ixy>
<ixz>7.25520358462022E-09</ixz>
<iyy>6.2212244077722E-06</iyy>
<iyz>4.7974277200154E-10</iyz>
<izz>1.38274306764758E-05</izz>
</inertia>
</inertial>
<collision name='snrFront_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='snrFront_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/snrFront.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='snrFront_joint' type='revolute'>
<child>snrFront</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='snrRight'>
<pose>0.0068085 -0.177 0.047111 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0417832516253194</mass>
<inertia>
<ixx>6.22153204590513E-06</ixx>
<ixy>-5.16098761563559E-10</ixy>
<ixz>4.79056100849948E-08</ixz>
<iyy>1.19955543161854E-05</iyy>
<iyz>-7.25258856330149E-09</iyz>
<izz>1.38271454207545E-05</izz>
</inertia>
</inertial>
<collision name='snrRight_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='snrRight_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/snrRight.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='snrRight_joint' type='revolute'>
<child>snrRight</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='snrLeft'>
<pose>0.0076985 0.1766 0.046887 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0417832225289182</mass>
<inertia>
<ixx>6.22151056501415E-06</ixx>
<ixy>-4.26229521809202E-10</ixy>
<ixz>4.6661314763127E-08</ixz>
<iyy>1.19955440673549E-05</iyy>
<iyz>7.25805879481062E-09</iyz>
<izz>1.38271444603464E-05</izz>
</inertia>
</inertial>
<collision name='snrLeft_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='snrLeft_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/snrLeft.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='snrLeft_joint' type='revolute'>
<child>snrLeft</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- - - - - - - - - - - - - - -->
<link name='snrBack'>
<pose>-0.16945 0.00023378 0.046995 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0417832231932911</mass>
<inertia>
<ixx>1.19955441736059E-05</ixx>
<ixy>-4.71164873479946E-10</ixy>
<ixz>7.25520358459577E-09</ixz>
<iyy>6.22122440777232E-06</iyy>
<iyz>-4.79742771489464E-10</iyz>
<izz>1.38274306764757E-05</izz>
</inertia>
</inertial>
<collision name='snrBack_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='snrBack_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/snrBack.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='snrBack_joint' type='revolute'>
<child>snrBack</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - snrDown- - - - - - -->
<link name='snrDown'>
<pose>0.061376 -0.00022611 -0.006 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0417832231932894</mass>
<inertia>
<ixx>1.38274306764755E-05</ixx>
<ixy>4.79742771011211E-10</ixy>
<ixz>7.25520358460153E-09</ixz>
<iyy>6.22122440777185E-06</iyy>
<iyz>4.71164873348793E-10</iyz>
<izz>1.1995544173606E-05</izz>
</inertia>
</inertial>
<collision name='snrDown_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='snrBack_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/snrDown.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='snrDown_joint' type='revolute'>
<child>snrDown</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='lidar_link'>
<pose>0.0073529 -0.00020118 0.1646 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.0417832231932894</mass>
<inertia>
<ixx>1.38274306764755E-05</ixx>
<ixy>4.79742771011211E-10</ixy>
<ixz>7.25520358460153E-09</ixz>
<iyy>6.22122440777185E-06</iyy>
<iyz>4.71164873348793E-10</iyz>
<izz>1.1995544173606E-05</izz>
</inertia>
</inertial>
<collision name='lidar_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.128</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='lidar_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://my_custom_droneo/meshes/lidar_link.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='lidar_joint' type='revolute'>
<child>lidar_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>