Attach iris drone to an object in gazebo

Build

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

Run

<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.

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Code modified from https://github.com/pal-robotics/gazebo_ros_link_attacher