Payload interaction - Githubissues

slim71 / SpartanLIFT

MSc thesis regarding the application of a teleoperated multi-UAV system for cooperative payload transport.

Apache License 2.0

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Payload interaction #7

Closed slim71 closed 3 months ago

slim71 commented 1 year ago

Important: the actual payload linkage and such is not in focus for this project.

Without going into too much details, automate the connection and disconnection of a payload with the fleet.

[x] Create or download some payload models
[x] Describe the supposed architecture
[x] Design a simple solution

slim71 commented 5 months ago

For now only an example of cargo is present: box with handles.

The cargo will be left in a predefined position in the environment and the fleet will have to move above it before starting the actual interaction with it.

slim71 commented 5 months ago

As of commit f529133, since the gravity tag is not viable in the present version of Gazebo, the static one is used. See https://github.com/gazebosim/gz-sim/issues/504