start-jsk/jsk_mbzirc

Name: jsk_mbzirc

Owner: start-jsk

Description: null

Created: 2015-12-23 08:02:02.0

Updated: 2017-10-15 04:17:27.0

Pushed: 2016-07-30 17:23:32.0

Homepage: null

Size: 7380

Language: C++

GitHub Committers

User	Most Recent Commit	# Commits

Other Committers

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README

how to compile

catkin_ws>
ol init src
ol set -t src jsk_mbzirc http://github.com/start-jsk/jsk_mbzirc --git
ol merge -t src https://raw.githubusercontent.com/start-jsk/jsk_mbzirc/master/mbzirc.rosinstall
ol update -t src
ep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
in build

how to run program

• run mbzirc_arena wolrd in gazebo:

  slaunch jsk_mbzirc_common mbzirc_arena_1.launch
  

• run simulation of task1 with uav in task1 stage

  slaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch
  

• run simulation of husky + ur5 in task2 stage

  slaunch jsk_mbzirc_tasks jsk_mbzirc_task_2.launch
  stopic pub -r 10 r_gripper_controller/command std_msgs/Float64 "data: 0.2" # to move gripper
  

Operation notes

Task1

• Keyboard teleoperation

  Hold shift and press above button will accerate the speed of the drone

• Task1 cheat A simple demonstration of landing on the truck. the cheat program will move the drone if the sim time is less than 2 seconds, first launch the jsk_mbzirc_tasks and then launch the jsk_mbzirc_common

  slaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch cheat:=true
  slaunch jsk_mbzirc_common mbzirc_arena_1.launch
  

Task2

• Keyboard teleoperation Using the same keyboard layout for horizontal and yaw control, also enabled Shift key.