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px4-omnicopter repositoryrobotics px4 drones aerial-manipulation omnicopter manipulation_msgs px4_manipulation |
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Repository Summary
| Description | Control of the fully actuated PX4 Omnicopter |
| Checkout URI | https://github.com/jaeyoung-lim/px4-omnicopter.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-09-11 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics px4 drones aerial-manipulation omnicopter |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| manipulation_msgs | 0.0.0 |
| px4_manipulation | 0.0.0 |
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
Pose can be commanded through the menu of the interactive marker
CONTRIBUTING
No CONTRIBUTING.md found.
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