ROS 2 Common Interfaces

Aerostack2 uses common ROS 2 interfaces like topics, services and actions.

This page describes common ROS 2 interfaces for inter-process communication used by Aerostack2. The goal of this set of interfaces is to facilitate the interoperability of the ROS 2 nodes in Aerostack2.

• Aerial Platform
• Motion Controller
• State Estimator
• Behaviors

Also, Aerostack2 provides a set of ROS 2 messages in the package as2_msgs.

• AS2 Msgs

Using AS2 Interfaces

AS2 interfaces names should not be typed manually. Names are stored in:

#include "as2_core/names/topics.hpp"
#include "as2_core/names/services.hpp"
#include "as2_core/names/actions.hpp"

You can access to a interface name via as2_names, e.g. as2_names::topics::platform::info.