Robot Behaviors

This catalog shows the list of behaviors according to the tasks that they perform.

Note

For more information about what a behavior is, please refer to the Behaviors section, or how they interact with other Aerostack2 components at Architecture section.

Motion Behaviors

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

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

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)