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)

Parameter Estimation Behaviors

Parameter Estimation Behaviors
Name	Description	Parameters
Mass Estimation Behavior	Estimate the mass of the platform using the aceleracion in the z axis and the thrust command to the motors.
Force Estimation Behavior	Estimate the difference between the commanded thrust and the thrust being executed by the platform.

Swarm Flocking Behaviors

Swarm Flocking Behaviors
Name	Description	Parameters
Swarm Flocking Behavior	Generates a dynamic Swarm structure around a centroid in order to move the drones in formation.	Virtual Centroid: Desired pose offset of the virtual centroid with respect to the frame it must follow. Swarm Formation: List of desired poses, including the ID of each drone in the swarm, with respect to the virtual centroid. Drone Namespace: List of the drone namespaces in the swarm. It must be in the same order as the swarm formation list.

Payload Behaviors

Payload Behaviors
Name	Description	Parameters
Gripper Behavior	Control a gripper to pick up and release objects.	Gripper request: It is a bool msg where true means to start the closing action and false means to start the opening action.