From 644cef89b6072dc3df6a926f254c9f9c807610fa Mon Sep 17 00:00:00 2001
From: aPROTO <alqamascaptaina3@gmail.com>
Date: Sun, 9 Oct 2022 23:46:16 +0530
Subject: [PATCH] corrected urdf

---
 rotors_description/urdf/omav.xacro | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/rotors_description/urdf/omav.xacro b/rotors_description/urdf/omav.xacro
index 01bd2bc..c7890eb 100644
--- a/rotors_description/urdf/omav.xacro
+++ b/rotors_description/urdf/omav.xacro
@@ -93,8 +93,8 @@
   <!-- Instantiate rotors -->
   <xacro:double_tilt_unit robot_namespace="${namespace}"
     suffix="right"
-    direction_upper="ccw"
-    direction_lower="ccw"
+    direction_upper="cw"
+    direction_lower="cw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"
@@ -119,8 +119,8 @@
   <xacro:double_tilt_unit
     robot_namespace="${namespace}"
     suffix="left"
-    direction_upper="cw"
-    direction_lower="cw"
+    direction_upper="ccw"
+    direction_lower="ccw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"
@@ -145,8 +145,8 @@
   <xacro:double_tilt_unit
     robot_namespace="${namespace}"
     suffix="front_left"
-    direction_upper="ccw"
-    direction_lower="ccw"
+    direction_upper="cw"
+    direction_lower="cw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"
@@ -170,8 +170,8 @@
 
   <xacro:double_tilt_unit robot_namespace="${namespace}"
     suffix="back_right"
-    direction_upper="cw"
-    direction_lower="cw"
+    direction_upper="ccw"
+    direction_lower="ccw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"
@@ -195,8 +195,8 @@
 
   <xacro:double_tilt_unit robot_namespace="${namespace}"
     suffix="front_right"
-    direction_upper="cw"
-    direction_lower="cw"
+    direction_upper="ccw"
+    direction_lower="ccw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"
@@ -220,8 +220,8 @@
 
   <xacro:double_tilt_unit robot_namespace="${namespace}"
     suffix="back_left"
-    direction_upper="ccw"
-    direction_lower="ccw"
+    direction_upper="cw"
+    direction_lower="cw"
     motor_constant="${motor_constant}"
     motor_constant_lower="${motor_constant_lower}"
     moment_constant="${moment_constant}"