Robot Behaviors
In this section, we give a list of behaviors that has been implemented in Aerostack2. For more information about what a behavior is, please refer to the Behaviors section, and how work on Aerostack2 architecture in the Behaviors section.
Motion Behaviors
Name |
Description |
Parameters |
|---|---|---|
Take Off |
Change the state of the aircraft from landed to flying. For that, the aircraft must be armed and in offboard mode |
Height: desired take off height from the starting point, in meters (m)
Speed: desired take off speed movement, in meters per second (m/s)
|
Land |
Change the state of the aircraft from flying to landed. Also disarm it |
Speed: desired landing speed movement, in meters per second (m/s) |
Go To |
Move the aircraft to a given position in the desired frame |
Yaw: desired mode
Target pose: desired position in the desired frame, in meters (m)
Max speed: desired speed movement, in meters per second (m/s)
|
Follow Path |
Move the aircraft along a given path in the desired frame |
Header: desired frame of the path
Yaw: desired mode
Path: desired path with a list of poses with id.
Max speed: desired speed movement, in meters per second (m/s)
|
Follow Reference |
Keep the aircraft at given pose reference in the desired frame |
Frame id: desired frame of the reference
Yaw: desired mode
Target reference: desired pose reference in the given frame.
Max speed: desired speed movement in each of the axis, in meters per second (m/s)
|
Perception Behaviors
Name |
Description |
Parameters |
|---|---|---|
Detect ArUco Markers |
Detect ArUco Markers in a image and publish the result. |
Target ids: list of id of the markers to detect |
Trajectory Generation Behaviors
Name |
Description |
Parameters |
|---|---|---|
Generate Polynomial Trajectory |
Convert a list of waypoints to a trajectory |
Header: desired frame of the path
Yaw: desired mode
Path: desired path with a list of poses with id.
Max speed: desired speed movement, in meters per second (m/s)
|