Attach iris drone to an object in gazebo
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/Open-UAV/gazebo_ros_link_attacher.git
cd ..
catkin build
source devel/setup.bash
<plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so"/>
Add the above lines to the gazebo world file to enable link attach plugin.
rosrun gazebo_ros_link_attacher attach.py
The above rosrun command will create a rostopic /attach where
if you send string "ATTACH", the iris drone will attach to the sample_probe object in the world.
if you send string "DETACH", the iris drone will detach the sample_probe object.
The attach happens if the drone is with 30 degrees from the object and is less than 0.6 meters.
Code modified from https://github.com/pal-robotics/gazebo_ros_link_attacher