cd <catkin_ws>
wstool init src
wstool set -t src jsk_mbzirc http://github.com/start-jsk/jsk_mbzirc --git
wstool merge -t src https://raw.githubusercontent.com/start-jsk/jsk_mbzirc/master/mbzirc.rosinstall
wstool update -t src
rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin build
- run mbzirc_arena wolrd in gazebo:
$ roslaunch jsk_mbzirc_common mbzirc_arena_1.launch
- run simulation of task1 with uav in task1 stage
$ roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch
- run simulation of husky + ur5 in task2 stage
$ roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_2.launch
$ rostopic pub -r 10 r_gripper_controller/command std_msgs/Float64 "data: 0.2" # to move gripper
-
Keyboard teleoperation
PLfor going up and downHfor Hover stableWASDfor horizontal direction moveQEfor Yaw 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
$ roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch cheat:=true
$ roslaunch jsk_mbzirc_common mbzirc_arena_1.launch
- Keyboard teleoperation
Using the same keyboard layout for horizontal and yaw control, also enabled Shift key.
OCfor open and close the gripper.