New package for gimbalrotor

[sugihara-16]

What is this

New robot package named "gimbalrotor", which supports the minimum configuration for multirotor equipped with arbitrary number of tilt rotors.

Detail

The default robot model in this package is quadrotor, so please change the URDF model when you test other types of robots (no changes for other files are needed).

[tongtybj]

@sugihara-16

Can you provide an instruction to run a demo. For example:

roslaunch xxxx xxxx.launch
rosrun xxxx xxxx # change the orientation and/or position

[tongtybj]

@sugikazu75

Can you merge your commit about birotor to this branch if possible. I think this branch currently only supports fully- or over- actuated model.

[sugihara-16]

@tongtybj

• launch command roslaunch gimbalrotor bringup.launch simulation:=true real_machine:=false headless:=false
• change rotation (For example, send a following command to incline 0.5 rad in roll angle.) rostopic pub -1 /gimbalrotor/final_target_baselink_rot spinal/DesireCoord "roll: 0.5 pitch: 0.0 yaw: 0.0 coord_type: 0"

[sugikazu75]

@tongtybj OK, I'll make controller of under-actuated version as a subclass of aerial_robot_control/under_actuated_flight_controller and birotor package

[sugikazu75]

created #550

[sugihara-16]

I have added some portions to this package in order to support real machines. Note that this package has merged #547 which hasn't merged to the master branch.

[tongtybj]

@sugihara-16

After #525 and #526 are merged to the master, I hope you can refactor this branch with the new model system. It shouldn't be that hard.

[sugihara-16]

Ok, I got it.

[sugihara-16]

@tongtybj I merged the master of the latest version that includes #525 and #526.

[tongtybj]

@sugihara-16

Should I review and merge https://github.com/jsk-ros-pkg/jsk_aerial_robot/pull/547 first?

[sugihara-16]

@tongtybj Yes, you should.