A Gazebo model is the geometric and physical description of an object in the world — links, joints, inertias, visual meshes, collision meshes, and the sensor plugins attached to them. For our purposes, the drone is the main model that matters; the warehouse walls and obstacle props are simpler and live with their respective worlds.
Three pages here. iris_claudedrone is the customization layer on top of the stock iris_with_ardupilot model — we add a downward TF-Luna, color the rotors so we can tell them apart visually, and load our indoor.parm parameter file. Drone chassis (URDF) is the geometric description of the frame itself. Sensor mounts covers the offset frames for each rangefinder relative to base_link.
Sensors-vs-URDF distinction matters in Gazebo: URDF describes the mechanical structure (where the body parts are, what they weigh, how they hinge); sensor mounts attach behavior (where the rangefinder beam emits from, where the camera image plane sits). Both share the same <link> tree, but they’re conceptually separate concerns.
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Auto-generated from child entries during build (update-indexes.mjs).