To run the gazebo part it is necessary to have the following packages:
gazebo simulation: https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh gazebo px4 Firmware ROS melodic mavros rosbridge weboscket http://wiki.ros.org/rosbridge_suite qground control http://qgroundcontrol.com/
You need to have knowledge of how to create a rospy workspace
https://github.com/Rodolfo9706/Firmware.git https://dev.px4.io/master/en/setup/dev_env_linux_ubuntu.html#rosgazebo
Unity VR: unity visual studio c#
RUN program 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_verdin of the same name. Replace rate_control.cpp located at src / Firmware / src / modules / mc_rate_control / ratecontrol do the same with logger and vmount
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:
$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.
