Title: A quadrotor controlled in real-time using hand gestures and ROS2 multi-node communication within GAZEBO 3D environment

Authors: Hamza Djizi; Abdelaziz Lakehal; Zoubir Zahzouh

Addresses: INFRA-RES Laboratory, Department of Mechanical Engineering, University of Souk Ahras, P.O. Box 1553, Souk-Ahras, 41000, Algeria ' Laboratory of Research on Electromechanical and Dependability, University of Souk Ahras, P.O. Box 1553, Souk-Ahras, 41000, Algeria ' Laboratory of Research on Electromechanical and Dependability, University of Souk Ahras, P.O. Box 1553, Souk-Ahras, 41000, Algeria

Abstract: This paper introduces a novel way of designing and controlling a quadrotor prototype using hand gestures, utilising the Robotic Operating System 2 (ROS2) and GAZEBO11 3D environment. A C++-based plug-in was created for GAZEBO, while the cross-platform pipeline framework Media-Pipe was used to manage the quadrotor's movements through hand gestures. The PID regulator was utilised to enhance the movements' accuracy and responsiveness, leading to a more efficient and precise response to user commands for a better user experience. The obtained results demonstrated that the PID regulator improved the response of the quadrotor to hand gestures with greater accuracy.

Keywords: Robotic Operating System 2; ROS2; quadrotor; GAZEBO; control; communication; hand gestures.

DOI: 10.1504/IJAAC.2024.137069

International Journal of Automation and Control, 2024 Vol.18 No.2, pp.214 - 231

Received: 06 Feb 2023
Accepted: 01 Apr 2023
Published online: 01 Mar 2024 *

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