Aerial Platform
Topics
Platform publish its finite state machine (FSM) status.
Name |
Type |
Quality of Service |
Description |
|---|---|---|---|
platform/info |
as2_msgs/PlatformInfo |
DefaultQoS |
Information about the robot: connection_state,
arming_state, offboard_state,
fly status and control_mode
|
Platform suscribe to actuator commands.
Name |
Type |
Quality of Service |
Description |
|---|---|---|---|
actuator_command/pose |
geometry_msgs/PoseStamped |
SensorDataQoS |
Actuator command for the multirotor
specifying x, y and z (m: meters) and
roll, pitch and yaw (rad: radians)
|
actuator_command/twist |
geometry_msgs/TwistStamped |
SensorDataQoS |
Actuator command for the multirotor
specifying vx, vy and vz (m/s: meters per seconds) and
roll rate, pitch rate and yaw rate (rad/s: radians per seconds)
|
actuator_command/thrust |
as2_msgs/Thrust |
SensorDataQoS |
Actuator command for the multirotor
specifying thrust (N: Newtons)
|
Platform publish sensor data.
Name |
Type |
Quality of Service |
Description |
|---|---|---|---|
sensor_measurement/camera |
sensor_msgs/Image |
SensorDataQoS |
Raw image data received from
camera (a general camera).
|
sensor_measurement/camera/front |
sensor_msgs/Image |
SensorDataQoS |
Raw image data received from
front camera.
|
sensor_measurement/camera/bottom |
sensor_msgs/Image |
SensorDataQoS |
Raw image data received from
the bottom camera.
|
sensor_measurement/gps |
sensor_msgs/NavSatFix |
SensorDataQoS |
GPS (Global Positioning
System) coordinates
|
sensor_measurement/imu |
sensor_msgs/Imu |
SensorDataQoS |
Inertial Measurement Unit
data
|
Services
Platform services.
Name |
Type |
Description |
|---|---|---|
platform/set_arming_state |
std_srvs/SetBool |
Arm / Disarm platform |
platform/set_offboard_mode |
std_srvs/SetBool |
Enable / Disable offboard mode |
platform/set_control_mode |
as2_srvs/SetControlMode |
Set platform control mode |
platform/takeoff |
std_srvs/SetBool |
Takeoff platform |
platform/land |
std_srvs/SetBool |
Land platform |
platform/state_machine_event |
as2_srvs/SetPlatformStateMachineEvent |
Send event to Platform State Machine |
platform/list_control_mode |
as2_srvs/ListControlModes |
List available platform control modes |