Teleoperated aerial manipulator and its avatar.

[rverdin@cio.mx]

aerial manípulator paper --- [DOI: 10.1109/ICUAS51884.2021.947688]

To run the gazebo simulation part it is necessary to have the following packages:

• gazebo - px4 Firmware - mavros: https://docs.px4.io/main/en/ros/mavros_installation.html

• ROS melodic: http://wiki.ros.org/melodic/Installation/Ubuntu

• rosbridge weboscket: http://wiki.ros.org/rosbridge_suite

• qground control http://qgroundcontrol.com/

please clone the following firmware into your ubuntu repository: with git clone https://github.com/Rodolfo9706/Firmware.git

Once cloned, open in the terminal the address of the firmware folder and run the following line: make px4_sitl gazebo add sudo if is necessary.

Skip this step, only continue if you had problem installing mavros-px4-gazebo: https://dev.px4.io/master/en/setup/dev_env_linux_ubuntu.html #rosgazebo

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#Compile PX4 Firmware

Once the px4 Firmware is downloaded replace the following files: replace the

•Replace the typhoon_h480 folder located in src / Firmware / tools / sitl_gazebo / models with the one located in Firmware.

•Replace rate_control.cpp located in src / Firmware / src / modules / mc_rate_control / ratecontrol.

•Do the same with logger and vmount located in src / Firmware / src / modules /

Once the folders have been replaced, run the following line in the terminal inside the Firmware folder:

sudo make px4_sitl gazebo_typhoon_h480

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##ROSLAUNCH execution

workspaces for rospy For this step, you need the knowledge to create a workspace using rospy Once created you will only need the .py files

To run roslaunch it is necessary to run in the terminal:

DONT_RUN=1 make px4_sitl_default gazebo-classic
source ~/catkin_ws/devel/setup.bash    # (optional)
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
roslaunch px4 posix_sitl.launch

To run aerialmanipulator please: roslaunch px4 mavros posix_sitl.launch_vehicle:=typhoonh480

The aerial-manipulator deal model will open immediately, to control the vehicle you can use qgroundcontrol and arm.

VR comunnication:

To control it with the virtual environment you need to run the model in unity, once downloaded. Run the topics:

rosrun pos_data pos_data.py rosrun brazo brazo.py

Runwebsocket: roslaunch rosbridge_server rosbridge_websocket.launch

If you have any problem with stl package or dae package send me a mail.