https://github.com/jaeyoung-lim/px4-manipulation

Aerial manipulation tools for PX4 enabled vehicles
https://github.com/jaeyoung-lim/px4-manipulation

aerial-manipulation drones px4 robotics

Last synced: 4 months ago
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Aerial manipulation tools for PX4 enabled vehicles

• Host: GitHub
• URL: https://github.com/jaeyoung-lim/px4-manipulation
• Owner: Jaeyoung-Lim
• License: bsd-3-clause
• Created: 2023-08-11T01:34:12.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2023-09-10T20:24:42.000Z (over 1 year ago)
• Last Synced: 2023-09-10T21:26:06.766Z (over 1 year ago)
• Topics: aerial-manipulation, drones, px4, robotics
• Language: C++
• Homepage:
• Size: 15.6 KB
• Stars: 5
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# px4-aerial-manipulation

## Setup

Add the repository to the ros2 workspace

```

git clone https://github.com/Jaeyoung-Lim/px4-manipulation.git

```

## Running

You will make use of 3 different terminals to run the offboard demo.

On the first terminal, run a SITL instance from the PX4 Autopilot firmware.

```

make px4_sitl gz_omnicopter

```

On the second terminal terminal, run the micro-ros-agent which will perform the mapping between Micro XRCE-DDS and uORB. So that ROS2 Nodes are able to communicate with the PX4 micrortps_client.

```

micro-ros-agent udp4 --port 8888

```

In order to run the offboard position control example, open a third terminal and run the the node.

This runs two ros nodes, which publishes offboard position control setpoints and the visualizer.

```

ros2 launch px4_manipulation run.launch.py

```

![omnicoptercommands](https://github.com/Jaeyoung-Lim/px4-manipulation/assets/5248102/64477ef6-16ad-4f83-b16b-7e3b8903d57b)

Pose can be commanded through the menu of the interactive marker