MRS_x500_blue

Inserts the x500 (LASER) model, in mrs_simulation

• !!!!!!!!!! WARNING THAT IF YOU MAKE THESE CHANGES, YOU'LL NOT BE ABLE TO USE ANOTHER TYPE OF UAV !!!!!!!!!!

Installing

Install ros packages:

sudo apt-get install ros-noetic-control*

sudo apt-get install ros-noetic-ros-control*

---

Add drone name ( in this case 'blue' ) into the parameter model_package

• FILE: /home/USER/mrs_workspace/src/simulation/ros_packages/mrs_simulation/config/spawner_params.yaml
• In the param pos_file you must to add the drone name in the list of drones
• In the param model_package you must to add the drone name in the list of drones

---

Add drone name (in this case 'blue' ) into the spawner_params config

• FILE: /home/USER/mrs_workspace/src/simulation/ros_packages/mrs_simulation/scripts/mrs_drone_spawner.py
• In the variable VEHICLE_TYPES you must to add the drone name in the list of drones

---

• TO USE ANOTHER TYPE OF DRONE, YOU MUST REMOVE THIS CHANGES, INTO SPAWNER_PARAMS AND MRS_DRONE_SPAWNER FILES.

---

Create a pixhawk airframe for the drone inside

• FOLDER: /home/USER/mrs_workspace/src/simulation/ros_packages/mrs_simulation/ROMFS/px4fmu_common/init.d-posix/airframes/
• Simply copying the existing 4001_x500, and saving it as 4001_blue

---

Add this package into your workspace/src, and build workspace with catkin build

---

Spawn the drone by calling rosservice call /mrs_drone_spawner/spawn "1 blue --model_package blue"

• NOTE: Example for this https://github.com/LASER-Robotics/mrs_x500_blue/blob/main/start/session.yml#L21
• ALWAYS USE UAV_TYPE X500

Grip controller

• Example for launch https://github.com/LASER-Robotics/mrs_x500_blue/blob/main/start/session.yml#L38
• Service: rosservice call /UAV_NAME/control_manager/controller_gripper "stance: ' ' "
  • Stance can be 'open' and 'close'