uvms-perching

Create SDF based on desired configuration:

• Run MATLAB script threearm_6dof_SDF.m

Loading configurations:

• roslaunch gazebo_ros empty_world.launch
• rosrun gazebo_ros spawn_model -file .../uvms-perching/src/sdf/perch_3arm_qX.sdf -sdf -model robot_name

Measuring vehicle position and applying force along desired directions:

• rosrun uvms-perching deflection_vehicle.py
  • Script will tell you when steady state is reached
• rosrun uvms-perching apply_force.py
  • When new forces are applied, wait for the position to stabilize