Aerial physical interaction and manipulation has gained demand over the last decade for numerous industrial applications. Research groups are attempting to produce novel fully actuated designs to suit different applications. However, several maintain proprietary flight stacks which prevents research replication and benchmarking and slows down the development pace. This paper novelly proposes a design and control framework that leverages the popular ROS2 middleware and PX4 flight stack to develop controlled fully actuated aerial manipulator. A use case is then presented for aerial physical interaction control for push and slide tasks. The proposed framework will accelerate the development of new aerial manipulators and allow benchmarking and research replication.