Aerial-Manipulator-Gazebo

Aerial Manipulator for Gazebo Simulation

This package depends on the RotorS Simulator for Gazebo-ROS simulation of an Aerial Manipulation System. The aerial manipulator consists of the HarrierD7 Vulcan UAV and the Kinova 7DoF spherical wrist robot manipulator.

Instructions

1. First of all, download and install the RotorS Simulator in your workspace, preferably using either catkin_make or catkin build
2. Make sure you have downloaded Eigen. If your install folder for the Eigen headers is not usr/include/eigen3 you will need to edit the CMakeLists.txt file
3. Clone this repository to your workspace with:

cd ~/catkin_ws/src
git clone [email protected]:RISC-NYUAD/Aerial-Manipulator-Gazebo.git

and run catkin_make or catkin build once again

4. Run roslaunch aerial_manipulation aerial_manipulator.launch to test the default system. After pressing play, you should see the Kinova assume its home position, then the UAV taking off, retracting the landing gear and hovering.

Further usage

• In a new terminal, run

roslaunch aerial_manipulation uav_teleop.launch

to send discrete position and yaw orientation commands to the UAV

• In another terminal, run

roslaunch aerial_manipulation robot_teleop.launch

to send discrete joint angle commands to the robot

• Run roslaunch aerial_manipulation pick_weight.launch and use the UAV and Robot teleoperators to try your hand at a realistic weight-lifting scenario using the Aerial Manipulator

• For expanded usage, we suggest downloading and installing the Kinova packages, for more robot descriptions and functionalities

• Has been test for Gazebo 7

If you use this package, with the provided adaptive controller, in your research, feel free to cite:

@inproceedings{chaikalis2020adaptive,
  title={Adaptive Control Approaches for an Unmanned Aerial Manipulation System},
  author={Chaikalis, Dimitris and Khorrami, Farshad and Tzes, Anthony},
  booktitle={2020 International Conference on Unmanned Aircraft Systems (ICUAS)},
  pages={498--503},
  year={2020},
  organization={IEEE}
}