MAV Cable-Suspended Object-Lifting

This repository contains the ROS nodes for a Bebop 2 to lift a bucket-shaped load with a hook attached at the end of a cable.

• Here you can see a lift by detecting only the position and orientation of the load.
• Here you can see a lift by detecting the position of the load and the position of the hook.
• Here you can see a lift by detecting the position and orientation of the load, as well as the position of the hook.

Nodes Description

• control_frontal Main control, shows video feed, and executes position and lifting control policies.
• bebop_autonomy ROS driver for Bebop 2, publishes the video feed and receives commands control.
• obj_loc Bucket detector.
• ssd_grasper Hook detector.
• teclado Keyboard commands interface.