AS2 Plugins

Aerostack2 is a modular framework, which means that it is possible to configure differents components to perform different tasks. In order to do that, Aerostack2 uses ROS 2 plugins. Plugins are libraries that are loaded at runtime. In this page, all avaliable plugins are listed.

Motion Controller Plugins

Motion Controller Plugins
Name	Description	Avaliable control modes input	Avaliable control modes output
PID Speed Controller	This plugin implements a PID controller for speed control.	Hover Speed with Yaw Angle or Yaw Speed Speed in a Plane with Yaw Angle or Yaw Speed Position with Yaw Angle or Yaw Speed Trajectory with Yaw Angle or Yaw Speed	Speed with Yaw Angle or Yaw Speed
Differential Flatness Controller	This plugin implements a differential flatness based controller.	Hover Trajectory with Yaw Angle or Yaw Speed	ACRO

State Estimator Plugins

State Estimator Plugins
Name	Description
Raw Odometry	This plugin use the raw odometry data from an external source, such as the aircraft or a onboard sensor.
Ground Truth	This plugin use the ground truth data from an external source, such as simulator or a external sensor.
Mocap Pose	This plugin use the pose data from an external source, such as a motion capture system, and compute the twist.

Behaviors Plugins

Motion Behaviors Plugins

Motion Behaviors Plugins
Behavior	Name	Description
Take Off	Speed	Send a speed command in z axis to the aircraft base link to take off
Take Off	Position	Send a position reference to take off
Take Off	Platform	Use the platform take off service
Take Off	Trajectory	Generate a trajectory to take off
Land	Speed	Send a speed command in z axis to the aircraft base link to land
Land	Platform	Use the platform land service
Go To	Position	Send a position reference to desired position
Go To	Trajectory	Generate a trajectory to go to desired position
Follow Path	Position	Send a position reference to desired path waypoints
Follow Path	Trajectory	Generate a trajectory to move along desired path waypoints

Trajectory Generation Behavior Plugins

Trajectory Generation Behavior Plugins
Name	Description
mav_trajectory_generator	Wrapper around the `mav_trajectory_generation_library` (static polynomial generator with linear or NLopt-based nonlinear solver). Uses regenerate semantics on every modify.
dynamic_mav_trajectory_generator	Wrapper around `dynamic_trajectory_generator`. Supports smooth online stitching (`updateWaypoints` replans without breaking the time axis). Recommended for long missions with frequent `on_modify` requests.
jerk_limited_trajectory_generator	S-curve simulator (PX4-style jerk-limited profile) enforcing per-axis jerk plus 3D-norm acceleration and speed bounds. Optional L1 corner-cut smoothing through `acceptance_radius`.
gcopter_trajectory_generator	L-BFGS-based optimiser (Aerostack2 fork of ZJU-FAST-Lab GCOPTER) with safe-flight-corridor support. Optimises a polynomial trajectory under hard dynamic limits and AABB corridors anchored on each user waypoint.

Follow Reference Behavior Plugins

Follow Reference Behavior Plugins
Name	Description
follow_reference_plugin_position	Tracks the reference by sending position setpoints to the controller through the `as2_motion_reference_handlers` `PositionMotion` handler. Setpoints emitted in `earth` so moving target frames work transparently.
follow_reference_plugin_trajectory	Delegates tracking to `TrajectoryGeneratorBehavior` in `follow_reference_mode`. Supports reactive modify under target drift via `modify_threshold` and `modify_frequency`.