Motion Controller

Topics

• Motion controller publish its state.

Aerostack2 Motion Controller Info Topic

Name	Type	Quality of Service	Description
controller/info	as2_msgs/ControllerInfo	DefaultQoS	Information about the controller state.

• Motion controller suscribe to motion reference.

Aerostack2 Motion Controller Motion References Topics

Name	Type	Quality of Service	Description
motion_reference/pose	geometry_msgs/PoseStamped	SensorDataQoS	Actuator command for the multirotor specifying x, y and z (m: meters) and roll, pitch and yaw (rad: radians)
motion_reference/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)
motion_reference/trajectory	as2_msgs/TrajectoryPoint	DefaultQoS	Reference trajectory point specifying x, y and z (m: meters), vx, vy and vz (m/s: meters per seconds), ax, ay and az (m/s²: meters per seconds squared) and yaw angle (rad: radians)

• Motion controller publish actuator commands to aerial platform.

Aerostack2 Motion Controller Actuator Commands Topics

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)

Services

• Motion controller services.

Aerostack2 Motion Controller Services

Name	Type	Description
controller/set_control_mode	as2_srvs/SetControlMode	Set controller control mode
controller/list_control_mode	as2_srvs/ListControlModes	List available controller control modes