aerostack2
-
struct Acro_command
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class AerialPlatform : public as2::Node
- #include <aerial_platform.hpp>
Base class for all Aerial platforms. It provides the basic functionality for the platform. It is responsible for handling the platform state machine and the platform status. It also handles the command subscriptions and the basic platform services.
Subclassed by as2_platform_multirotor_simulator::MultirotorSimulatorPlatform, gazebo_platform::GazeboPlatform
Public Functions
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explicit AerialPlatform(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
Construct a new Aerial Platform object, with default parameters.
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AerialPlatform(const std::string &ns, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
Construct a new Aerial Platform object, with default parameters.
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inline ~AerialPlatform()
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virtual void configureSensors() = 0
Configures the platform sensors.
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virtual bool ownSendCommand() = 0
Handles how a command must be sended in the concrete platform.
- Returns:
true command is sended successfully.
- Returns:
false command is not sended.
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virtual bool ownSetArmingState(bool state) = 0
Handles how arming state has to be settled in the concrete platform.
- Parameters:
state – true for arming the platform, false to disarm.
- Returns:
true Arming state is settled successfully.
- Returns:
false Arming state is not settled.
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virtual bool ownSetOffboardControl(bool offboard) = 0
Handles how offboard mode has to be settled in the concrete platform.
- Parameters:
offboard – true if offboard mode is enabled.
- Returns:
true Offboard mode is settled successfully.
- Returns:
false Offboard mode is not settled.
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virtual bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode &msg) = 0
Handles how the control mode has to be settled in the concrete platform.
- Parameters:
control_mode – as2_msgs::msg::PlatformControlMode with the new control mode.
- Returns:
true Control mode is settled successfully.
- Returns:
false Control mode is not settled.
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inline virtual bool ownTakeoff()
Handles the platform takeoff command.
- Returns:
true Takeoff command is sended successfully.
- Returns:
false Takeoff command is not sended.
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inline virtual bool ownLand()
Handles the platform landing command.
- Returns:
true Landing command is sended successfully.
- Returns:
false Landing command is not sended.
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virtual void ownKillSwitch() = 0
Handles the platform emergency kill switch command. This means stop the motors inmediately, this cannot be reversed. USE WITH CAUTION.
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virtual void ownStopPlatform() = 0
Handles the platform emergency stop command. STOP means to hover as best as possible. This hover is different from the hover in the platform control mode. And when it is activated the platform will stop hearing commands from AS2. USE WITH CAUTION.
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inline bool handleStateMachineEvent(const as2_msgs::msg::PlatformStateMachineEvent &event)
Set the State Machine Event object.
- Parameters:
event – Event to
- Returns:
true
- Returns:
false
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inline bool handleStateMachineEvent(const int8_t &event)
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inline bool getArmingState() const
Get whether the platform is armed or not.
- Returns:
true Armed
- Returns:
false Disarmed
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inline bool getConnectedStatus() const
Get wheter the connection is established or not.
- Returns:
true Connection active
- Returns:
false Connection not active
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inline bool getOffboardMode() const
Get whether offboard mode is active or not.
- Returns:
true Offboard mode enabled
- Returns:
false Offboard mode disabled
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inline as2_msgs::msg::ControlMode &getControlMode()
Get current platform control mode.
- Returns:
as2_msgs::msg::PlatformControlMode current platform control mode
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inline bool isControlModeSettled() const
Get whether a control mode is active or not.
- Returns:
true Control mode set and valid
- Returns:
false Control mode unset
Protected Functions
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bool setArmingState(bool state)
Set the arm state of the platform.
- Parameters:
state – True to arm the platform, false to disarm it.
- Returns:
true Armimg state setted successfully.
- Returns:
false Armimg state not setted successfully.
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bool setOffboardControl(bool offboard)
Set the offboard control mode.
- Parameters:
offboard – True if the offboard control mode is enabled.
- Returns:
true if the offboard control mode is setted properly
- Returns:
false if the offboard control mode could not be setted.
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bool setPlatformControlMode(const as2_msgs::msg::ControlMode &msg)
Set the control mode of the platform.
- Parameters:
msg – as2_msgs::msg::ControlMode message with the new control mode desired.
- Returns:
true If the control mode is set properly.
- Returns:
false If the control mode could not be set properly.
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bool takeoff()
Handles the platform takeoff command.
- Returns:
true Takeoff command is sended successfully.
- Returns:
false Takeoff command is not sended.
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bool land()
Handles the platform landing command.
- Returns:
true Landing command is sended successfully.
- Returns:
false Landing command is not sended.
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void alertEvent(const as2_msgs::msg::AlertEvent &msg)
Handles the platform emergency event.
- Parameters:
msg – as2_msgs::msg::AlertEvent message with the emergency event.
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virtual void sendCommand()
Send command to the platform.
Protected Attributes
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float cmd_freq_
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float info_freq_
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as2_msgs::msg::TrajectoryPoint command_trajectory_msg_
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geometry_msgs::msg::PoseStamped command_pose_msg_
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geometry_msgs::msg::TwistStamped command_twist_msg_
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as2_msgs::msg::Thrust command_thrust_msg_
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as2_msgs::msg::PlatformInfo platform_info_msg_
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bool has_new_references_ = false
Private Functions
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void initialize()
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inline void publishPlatformInfo()
Publishes the platform info message.
Set Aircraft Control Mode Service Callback.
- Parameters:
request –
response –
Set Aircraft Arming State Service Callback.
- Parameters:
request –
response –
Set Aircraft Offboard Mode Service Callback.
- Parameters:
request –
response –
Takeoff Service Callback.
- Parameters:
request –
response –
Land Service Callback.
- Parameters:
request –
response –
get list of available Control Modes Service Callback
- Parameters:
request –
response –
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explicit AerialPlatform(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
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class AlphanumericViewer : public as2::Node
Public Types
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using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
Public Functions
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AlphanumericViewer()
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void run()
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void setupNode()
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void printSummaryMenu()
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void printSensorMenu()
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void printPlatformMenu()
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void printStream(double var, bool aux)
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void printStream3(float var, bool aux)
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void printStream(float var, bool aux)
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void printSummaryValues()
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void printSensorValues()
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void printPlatformValues()
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void printBattery()
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void printQuadrotorState()
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void printControlModeInYaw()
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void printControlModeInControl()
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void printControlModeInFrame()
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void printControlModeOutYaw()
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void printControlModeOutControl()
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void printControlModeOutFrame()
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void printPlatformStatus(int line)
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void clearValues()
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virtual CallbackReturn on_configure(const rclcpp_lifecycle::State&) override
Callback for the configure state.
- Parameters:
state –
- Returns:
CallbackReturn
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virtual CallbackReturn on_deactivate(const rclcpp_lifecycle::State&) override
Callback for the deactivate state.
- Parameters:
state –
- Returns:
CallbackReturn
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virtual CallbackReturn on_shutdown(const rclcpp_lifecycle::State&) override
Callback for the shutdown state.
- Parameters:
state –
- Returns:
CallbackReturn
Private Functions
Private Members
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geometry_msgs::msg::PoseStamped self_localization_pose_
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geometry_msgs::msg::TwistStamped self_localization_twist_
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sensor_msgs::msg::BatteryState battery_status_
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sensor_msgs::msg::Imu imu_
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as2_msgs::msg::PlatformInfo platform_info_
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geometry_msgs::msg::PoseStamped actuator_pose_
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as2_msgs::msg::Thrust actuator_thrust_
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geometry_msgs::msg::TwistStamped actuator_twist_
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as2_msgs::msg::ControllerInfo controller_info_
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geometry_msgs::msg::PoseStamped reference_pose_
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geometry_msgs::msg::TwistStamped reference_twist_
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sensor_msgs::msg::NavSatFix gps_
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bool battery_aux = false
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bool altitude_aux = false
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bool altitude_sea_level_aux = false
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bool ground_speed_aux = false
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bool imu_aux = false
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bool temperature_aux = false
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bool platform_info_aux = false
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bool current_speed_reference_aux = false
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bool current_pose_reference_aux = false
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bool current_trajectory_reference_aux = false
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bool actuator_command_pose_aux = false
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bool actuator_command_twist_aux = false
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bool actuator_command_thrust_aux = false
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bool current_pose_aux = false
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bool current_speed_aux = false
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bool controller_info_aux = false
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bool gps_aux = false
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bool thrust_aux = false
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int last_received_yaw_mode
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int last_received_control_mode
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int last_received_reference_frame
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char command = 0
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int window = 0
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using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
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class ArmService : public nav2_behavior_tree::BtServiceNode<std_srvs::srv::SetBool>
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class AzimuthBridge : public rclcpp::Node
Public Functions
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inline AzimuthBridge()
Private Static Functions
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static inline void ignitionGroundTruthCallback(const gz::msgs::Odometry &ign_msg, const gz::transport::MessageInfo &msg_info)
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static inline float toEulerYaw(Quaternion q)
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static inline float toAzimuth(float yaw)
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inline AzimuthBridge()
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template<class MessageT>
class BasicBehavior : public as2::Node, public as2::Node Public Types
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using GoalHandleAction = rclcpp_action::ServerGoalHandle<MessageT>
Public Functions
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inline explicit BasicBehavior(const std::string &name)
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virtual rclcpp_action::GoalResponse onAccepted(const std::shared_ptr<const typename MessageT::Goal> goal) = 0
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virtual rclcpp_action::CancelResponse onCancel(const std::shared_ptr<GoalHandleAction> goal_handle) = 0
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virtual void onExecute(const std::shared_ptr<GoalHandleAction> goal_handle) = 0
Private Functions
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inline rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const typename MessageT::Goal> goal)
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inline rclcpp_action::CancelResponse handleCancel(const std::shared_ptr<GoalHandleAction> goal_handle)
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inline void handleAccepted(const std::shared_ptr<GoalHandleAction> goal_handle)
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using GoalHandleAction = rclcpp_action::ServerGoalHandle<MessageT>
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class BasicMotionReferenceHandler
Subclassed by as2::motionReferenceHandlers::HoverMotion, as2::motionReferenceHandlers::PositionMotion, as2::motionReferenceHandlers::SpeedInAPlaneMotion, as2::motionReferenceHandlers::SpeedMotion, as2::motionReferenceHandlers::TrajectoryMotion
Public Functions
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~BasicMotionReferenceHandler()
Protected Functions
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bool sendPoseCommand()
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bool sendTwistCommand()
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bool sendTrajectoryCommand()
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bool checkMode()
Protected Attributes
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as2_msgs::msg::TrajectoryPoint command_trajectory_msg_
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geometry_msgs::msg::PoseStamped command_pose_msg_
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geometry_msgs::msg::TwistStamped command_twist_msg_
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as2_msgs::msg::ControlMode desired_control_mode_
Private Functions
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bool setMode(const as2_msgs::msg::ControlMode &mode)
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~BasicMotionReferenceHandler()
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template<typename actionT>
class BehaviorServer : public as2::Node Public Types
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using BehaviorStatus = as2_msgs::msg::BehaviorStatus
Public Functions
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void register_action()
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BehaviorServer(const std::string &name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
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inline virtual void on_execution_end(const ExecutionStatus &state)
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inline void timer_callback()
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void publish_behavior_status()
Public Members
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std::shared_ptr<GoalHandleAction> goal_handle_
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as2_msgs::msg::BehaviorStatus behavior_status_
Private Functions
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void register_service_servers()
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void register_publishers()
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void register_timers()
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void register_run_timer()
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void cleanup_run_timer(const ExecutionStatus &status)
Private Members
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rclcpp::Service<modify_srv>::SharedPtr modify_srv_
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rclcpp::Publisher<feedback_msg>::SharedPtr feedback_pub_
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rclcpp::Publisher<goal_status_msg>::SharedPtr goal_status_pub_
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rclcpp::Publisher<BehaviorStatus>::SharedPtr behavior_status_pub_
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using BehaviorStatus = as2_msgs::msg::BehaviorStatus
- #include <bt_action_node.hpp>
Abstract class representing an action based BT node.
- Template Parameters:
ActionT – Type of action
Public Functions
A nav2_behavior_tree::BtActionNode constructor.
- Parameters:
xml_tag_name – Name for the XML tag for this node
action_name – Action name this node creates a client for
conf – BT node configuration
Create instance of an action client.
- Parameters:
action_name – Action name to create client for
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
Function to perform some user-defined operation after a timeout waiting for a result that hasn’t been received yet. Also provides access to the latest feedback message from the action server. Feedback will be nullptr in subsequent calls to this function if no new feedback is received while waiting for a result.
- Parameters:
feedback – shared_ptr to latest feedback message, nullptr if no new feedback was received
Function to perform some user-defined operation upon successful completion of the action. Could put a value on the blackboard.
- Returns:
BT::NodeStatus Returns SUCCESS by default, user may override return another value
Function to perform some user-defined operation whe the action is aborted.
- Returns:
BT::NodeStatus Returns FAILURE by default, user may override return another value
Function to perform some user-defined operation when the action is cancelled.
- Returns:
BT::NodeStatus Returns SUCCESS by default, user may override return another value
The main override required by a BT action.
- Returns:
BT::NodeStatus Status of tick execution
The other (optional) override required by a BT action. In this case, we make sure to cancel the ROS2 action if it is still running.
Public Static Functions
Any subclass of BtActionNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it.
- Parameters:
addition – Additional ports to add to BT port list
- Returns:
BT::PortsList Containing basic ports along with node-specific ports
Creates list of BT ports.
- Returns:
BT::PortsList Containing basic ports along with node-specific ports
Protected Functions
Function to check if current goal should be cancelled.
- Returns:
bool True if current goal should be cancelled, false otherwise
Function to send new goal to action server.
Function to check if the action server acknowledged a new goal.
- Parameters:
elapsed – Duration since the last goal was sent and future goal handle has not completed. After waiting for the future to complete, this value is incremented with the timeout value.
- Returns:
boolean True if future_goal_handle_ returns SUCCESS, False otherwise
Function to increment recovery count on blackboard if this node wraps a recovery.
Protected Attributes
- #include <bt_service_node.hpp>
Abstract class representing a service based BT node.
- Template Parameters:
ServiceT – Type of service
Public Functions
A nav2_behavior_tree::BtServiceNode constructor.
- Parameters:
service_node_name – Service name this node creates a client for
conf – BT node configuration
The main override required by a BT service.
- Returns:
BT::NodeStatus Status of tick execution
The other (optional) override required by a BT service.
Function to perform some user-defined operation on tick Fill in service request with information if necessary.
Function to perform some user-defined operation upon successful completion of the service. Could put a value on the blackboard.
- Parameters:
response – can be used to get the result of the service call in the BT Node.
- Returns:
BT::NodeStatus Returns SUCCESS by default, user may override to return another value
Check the future and decide the status of BT.
- Returns:
BT::NodeStatus SUCCESS if future complete before timeout, FAILURE otherwise
Function to perform some user-defined operation after a timeout waiting for a result that hasn’t been received yet.
Public Static Functions
Any subclass of BtServiceNode that accepts parameters must provide a providedPorts method and call providedBasicPorts in it.
- Parameters:
addition – Additional ports to add to BT port list
- Returns:
BT::PortsList Containing basic ports along with node-specific ports
Creates list of BT ports.
- Returns:
BT::PortsList Containing basic ports along with node-specific ports
Protected Functions
Function to increment recovery count on blackboard if this node wraps a recovery.
Protected Attributes
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class CalculateGoal : public SyncActionNode, public SyncActionNode
Public Functions
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inline NodeStatus tick() override
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inline CalculateGoal(const std::string &name, const NodeConfiguration &config)
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inline NodeStatus tick() override
Public Static Functions
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static inline PortsList providedPorts()
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static inline PortsList providedPorts()
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inline NodeStatus tick() override
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class Camera : public as2::sensors::TFStatic, protected as2::sensors::GenericSensor
- #include <sensor.hpp>
Class to handle the camera sensor.
Public Functions
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Camera(const std::string &id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true, const std::string &info_name = "camera_info", const std::string &camera_link = "camera_link")
Construct a new Camera object.
- Parameters:
id – Camera ID
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
info_name – Name of the camera info topic
camera_link – Name of the camera link frame
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void updateData(const sensor_msgs::msg::Image &img)
Update the data of the camera.
- Parameters:
img – Image message
-
void updateData(const cv::Mat &img)
Update the data of the camera.
- Parameters:
img – Image message
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void setParameters(const sensor_msgs::msg::CameraInfo &camera_info, const std::string &encoding, const std::string &camera_model = "pinhole")
Set camera info parameters.
-
virtual void setStaticTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float qx, float qy, float qz, float qw)
Set the Static Transform in TF.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
qx – Quaternion X
qy – Quaternion Y
qz – Quaternion Z
qw – Quaternion W
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virtual void setStaticTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float roll, float pitch, float yaw)
Set the Static Transform in TF.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
roll – Roll (rad)
pitch – Pitch (rad)
yaw – Yaw (rad)
Private Functions
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void setup()
Setup the camera info.
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virtual void publishData()
Publish the camera image and camera info.
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Camera(const std::string &id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true, const std::string &info_name = "camera_info", const std::string &camera_link = "camera_link")
-
struct Control_flags
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struct Control_flags
Public Members
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bool state_received = false
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bool ref_received = false
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bool plugin_parameters_read = false
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bool position_controller_parameters_read = false
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bool velocity_controller_parameters_read = false
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bool speed_in_a_plane_controller_parameters_read = false
-
bool trajectory_controller_parameters_read = false
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bool yaw_controller_parameters_read = false
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bool state_received = false
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class ControllerBase
Subclassed by differential_flatness_controller::Plugin, pid_speed_controller::Plugin
Public Functions
-
inline ControllerBase()
-
inline virtual void ownInitialize()
-
virtual void updateState(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg) = 0
-
inline virtual void updateReference(const geometry_msgs::msg::PoseStamped &ref)
-
inline virtual void updateReference(const geometry_msgs::msg::TwistStamped &ref)
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inline virtual void updateReference(const as2_msgs::msg::TrajectoryPoint &ref)
-
virtual bool computeOutput(double dt, geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust) = 0
-
virtual bool setMode(const as2_msgs::msg::ControlMode &mode_in, const as2_msgs::msg::ControlMode &mode_out) = 0
-
virtual void reset() = 0
-
inline virtual ~ControllerBase()
-
inline ControllerBase()
-
class ControllerHandler
Public Functions
-
inline virtual ~ControllerHandler()
-
rcl_interfaces::msg::SetParametersResult parametersCallback(const std::vector<rclcpp::Parameter> ¶meters)
-
void getMode(as2_msgs::msg::ControlMode &mode_in, as2_msgs::msg::ControlMode &mode_out)
-
void reset()
Private Functions
-
bool listPlatformAvailableControlModes()
-
void controlTimerCallback()
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bool findSuitableOutputControlModeForPlatformInputMode(uint8_t &output_mode, const uint8_t input_mode)
-
bool checkSuitabilityInputMode(uint8_t &input_mode, const uint8_t output_mode)
-
bool setPlatformControlMode(const as2_msgs::msg::ControlMode &mode)
-
bool findSuitableControlModes(uint8_t &input_mode, uint8_t &output_mode)
-
bool trySetPlatformHover()
-
bool tryToBypassController(const uint8_t input_mode, uint8_t &output_mode)
-
void sendCommand()
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void publishCommand()
Private Members
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as2::SynchronousServiceClient<as2_msgs::srv::SetControlMode>::SharedPtr set_control_mode_client_
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as2::SynchronousServiceClient<as2_msgs::srv::ListControlModes>::SharedPtr list_control_modes_client_
-
bool control_mode_established_ = false
-
bool motion_reference_adquired_ = false
-
bool state_adquired_ = false
-
bool use_bypass_ = false
-
bool bypass_controller_ = false
-
uint8_t prefered_output_mode_ = 0b00000000
-
as2_msgs::msg::PlatformInfo platform_info_
-
as2_msgs::msg::ControlMode control_mode_in_
-
as2_msgs::msg::ControlMode control_mode_out_
-
geometry_msgs::msg::PoseStamped state_pose_
-
geometry_msgs::msg::TwistStamped state_twist_
-
geometry_msgs::msg::PoseStamped ref_pose_
-
geometry_msgs::msg::TwistStamped ref_twist_
-
as2_msgs::msg::TrajectoryPoint ref_traj_
-
geometry_msgs::msg::PoseStamped command_pose_
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geometry_msgs::msg::TwistStamped command_twist_
-
as2_msgs::msg::Thrust command_thrust_
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std::shared_ptr<as2_motion_controller_plugin_base::ControllerBase> controller_ptr_
-
inline virtual ~ControllerHandler()
-
class ControllerManager : public as2::Node
-
Public Members
-
double cmd_freq_
Private Functions
-
void modeTimerCallback()
Private Members
-
double info_freq_
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std::shared_ptr<pluginlib::ClassLoader<as2_motion_controller_plugin_base::ControllerBase>> loader_
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std::shared_ptr<controller_handler::ControllerHandler> controller_handler_
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std::shared_ptr<as2_motion_controller_plugin_base::ControllerBase> controller_
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double cmd_freq_
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class DetectArucoMarkersBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::DetectArucoMarkers>
Public Functions
-
DetectArucoMarkersBehavior()
Construct a new Aruco Detector object.
-
inline ~DetectArucoMarkersBehavior()
Destroy the Aruco Detector object.
Private Functions
-
void loadParameters()
-
void setup()
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void setCameraParameters(const sensor_msgs::msg::CameraInfo &_camera_info)
-
bool checkIdIsTarget(const int _id)
As2 Behavior methods
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
-
DetectArucoMarkersBehavior()
-
class DisarmService : public nav2_behavior_tree::BtServiceNode<std_srvs::srv::SetBool>
-
class DynamicPolynomialTrajectoryGenerator : public as2_behavior::BehaviorServer<as2_msgs::action::GeneratePolynomialTrajectory>
Public Functions
-
inline ~DynamicPolynomialTrajectoryGenerator()
Private Functions
As2 Behavior methods
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Topic Callbacks
For faster waypoint modified
-
void setup()
Trajectory generator functions
-
bool evaluateTrajectory(double _eval_time)
-
double computeYawAnglePathFacing()
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void plotTrajectory()
Debug functions
-
void plotTrajectoryThread()
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void plotRefTrajPoint()
Private Members
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std::shared_ptr<dynamic_traj_generator::DynamicTrajectory> trajectory_generator_
Dynamic trajectory generator library
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as2::motionReferenceHandlers::HoverMotion hover_motion_handler_
Handlers
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as2::motionReferenceHandlers::TrajectoryMotion trajectory_motion_handler_
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as2_msgs::msg::YawMode yaw_mode_
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as2_msgs::action::GeneratePolynomialTrajectory::Goal goal_
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as2_msgs::action::GeneratePolynomialTrajectory::Feedback feedback_
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as2_msgs::action::GeneratePolynomialTrajectory::Result result_
-
bool has_yaw_from_topic_ = false
-
float yaw_from_topic_ = 0.0f
-
float init_yaw_angle_ = 0.0f
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Eigen::Vector3d current_position_
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double current_yaw_
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double yaw_angle_ = 0.0
-
dynamic_traj_generator::References traj_command_
-
bool first_run_ = false
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bool has_odom_ = false
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bool enable_debug_ = true
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inline ~DynamicPolynomialTrajectoryGenerator()
-
struct follow_path_plugin_params
-
class FollowPathAction : public nav2_behavior_tree::BtActionNode<as2_msgs::action::FollowPath>
Public Functions
-
inline virtual void on_tick()
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
-
inline virtual void on_tick()
-
class FollowPathBase
Subclassed by follow_path_plugin_position::Plugin, follow_path_plugin_trajectory::Plugin
Public Types
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
Public Functions
-
inline FollowPathBase()
-
inline virtual ~FollowPathBase()
-
inline virtual void state_callback(geometry_msgs::msg::PoseStamped &pose_msg, geometry_msgs::msg::TwistStamped &twist_msg)
-
inline void on_execution_end(const as2_behavior::ExecutionStatus &state)
Protected Functions
-
inline virtual void ownInit()
-
virtual bool own_activate(as2_msgs::action::FollowPath::Goal &goal) = 0
-
inline virtual bool own_modify(as2_msgs::action::FollowPath::Goal &goal)
-
virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) = 0
-
virtual as2_behavior::ExecutionStatus own_run() = 0
-
virtual Eigen::Vector3d getTargetPosition() = 0
-
inline void sendHover()
-
inline float getActualYaw()
Protected Attributes
-
as2_msgs::action::FollowPath::Goal goal_
-
as2_msgs::action::FollowPath::Feedback feedback_
-
as2_msgs::action::FollowPath::Result result_
-
int platform_state_
-
follow_path_plugin_params params_
-
geometry_msgs::msg::PoseStamped actual_pose_
-
bool localization_flag_ = false
Private Functions
-
inline bool processGoal(as2_msgs::action::FollowPath::Goal &_goal)
-
inline void reset()
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::HoverMotion> hover_motion_handler_ = nullptr
-
bool goal_accepted_ = false
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
-
class FollowPathBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::FollowPath>
Public Types
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
Public Functions
-
~FollowPathBehavior()
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Private Members
-
std::shared_ptr<pluginlib::ClassLoader<follow_path_base::FollowPathBase>> loader_
-
std::shared_ptr<follow_path_base::FollowPathBase> follow_path_plugin_
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
-
class FollowPathBehaviorEmulator : public as2::BasicBehavior<as2_msgs::action::FollowPath>
Public Types
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
-
using GoalHandleFollowPath = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowPath>
-
class FollowReferenceBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::FollowReference>
Public Types
-
using GoalHandleFollowReference = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowReference>
Public Functions
-
~FollowReferenceBehavior()
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Private Functions
-
inline void sendHover()
-
inline float getActualYaw()
-
bool getState()
-
bool computeYaw(const uint8_t yaw_mode, const geometry_msgs::msg::Point &target, const geometry_msgs::msg::Point &actual, float &yaw)
-
bool checkGoal(as2_msgs::action::FollowReference::Goal &_goal)
Private Members
-
geometry_msgs::msg::PoseStamped actual_pose_
-
geometry_msgs::msg::TwistStamped actual_twist
-
as2_msgs::action::FollowReference::Goal goal_
-
as2_msgs::action::FollowReference::Feedback feedback_
-
as2_msgs::action::FollowReference::Result result_
-
std::shared_ptr<as2::motionReferenceHandlers::PositionMotion> position_motion_handler_ = nullptr
-
std::shared_ptr<as2::motionReferenceHandlers::HoverMotion> hover_motion_handler_ = nullptr
-
int platform_state_
-
bool localization_flag_ = false
-
using GoalHandleFollowReference = rclcpp_action::ServerGoalHandle<as2_msgs::action::FollowReference>
-
class GazeboPlatform : public as2::AerialPlatform
Public Functions
-
GazeboPlatform()
-
inline ~GazeboPlatform()
-
inline virtual void configureSensors()
Configures the platform sensors.
-
virtual bool ownSendCommand() override
Handles how a command must be sended in the concrete platform.
- Returns:
true command is sended successfully.
- Returns:
false command is not sended.
-
virtual bool ownSetArmingState(bool state) override
Handles how arming state has to be settled in the concrete platform.
- Parameters:
state – true for arming the platform, false to disarm.
- Returns:
true Arming state is settled successfully.
- Returns:
false Arming state is not settled.
-
virtual bool ownSetOffboardControl(bool offboard) override
Handles how offboard mode has to be settled in the concrete platform.
- Parameters:
offboard – true if offboard mode is enabled.
- Returns:
true Offboard mode is settled successfully.
- Returns:
false Offboard mode is not settled.
-
virtual bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode &msg) override
Handles how the control mode has to be settled in the concrete platform.
- Parameters:
control_mode – as2_msgs::msg::PlatformControlMode with the new control mode.
- Returns:
true Control mode is settled successfully.
- Returns:
false Control mode is not settled.
-
virtual void ownKillSwitch() override
Handles the platform emergency kill switch command. This means stop the motors inmediately, this cannot be reversed. USE WITH CAUTION.
-
virtual void ownStopPlatform() override
Handles the platform emergency stop command. STOP means to hover as best as possible. This hover is different from the hover in the platform control mode. And when it is activated the platform will stop hearing commands from AS2. USE WITH CAUTION.
-
virtual bool ownTakeoff() override
Handles the platform takeoff command.
- Returns:
true Takeoff command is sended successfully.
- Returns:
false Takeoff command is not sended.
-
virtual bool ownLand() override
Handles the platform landing command.
- Returns:
true Landing command is sended successfully.
- Returns:
false Landing command is not sended.
Public Members
-
GazeboPlatform()
-
template<class Clock = std::chrono::high_resolution_clock>
class GenericRate : public as2::rate::RateBase
-
class GenericSensor
- #include <sensor.hpp>
GenericSensor object to publish sensor data at a given frequency.
Subclassed by as2::sensors::Camera, as2::sensors::Gimbal, as2::sensors::GroundTruth, as2::sensors::Sensor< T >
Public Functions
-
explicit GenericSensor(as2::Node *node_ptr, const float pub_freq = -1.0f)
Construct a new GenericSensor object.
- Parameters:
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
-
virtual ~GenericSensor()
Destroy the GenericSensor object.
-
void dataUpdated()
User must call this function when the data is updated.
-
virtual void publishData() = 0
User must implement the data publishing in this function.
Private Functions
-
void timerCallback()
Callback function for the timer. Publishes the data.
-
explicit GenericSensor(as2::Node *node_ptr, const float pub_freq = -1.0f)
-
class GetOrigin : public nav2_behavior_tree::BtServiceNode<as2_msgs::srv::GetOrigin>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Fill in service request with information if necessary.
-
virtual void on_tick() override
-
class Gimbal : public as2::sensors::TFStatic, protected as2::sensors::TFDynamic, protected as2::sensors::GenericSensor, protected as2::sensors::SensorData<geometry_msgs::msg::PoseStamped>
- #include <sensor.hpp>
Class to handle the gimbal sensor.
Public Functions
-
explicit Gimbal(const std::string &gimbal_id, const std::string &gimbal_base_id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true)
Construct a new Gimbal object.
- Parameters:
gimbal_id – Frame ID of the gimbal
gimbal_base_id – Frame ID of the gimbal base
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
-
void setGimbalBaseTransform(const geometry_msgs::msg::Transform &gimbal_base_transform, const std::string &gimbal_parent_frame_id = "base_link")
Set the gimbal base transformation respect to the parent frame.
- Parameters:
gimbal_base_transform – Transform message
gimbal_parent_frame_id – Parent frame ID (default is “base_link”)
-
void updateData(const geometry_msgs::msg::PoseStamped &pose_msg)
Update the gimbal transformation respect to the base.
- Parameters:
pose_msg – Pose message
-
void updateData(const geometry_msgs::msg::QuaternionStamped &orientation_msg)
Update the gimbal transformation respect to the base.
- Parameters:
pose_msg – Pose message
Protected Functions
-
virtual void publishData()
Publish the data in a topic and in TF.
-
explicit Gimbal(const std::string &gimbal_id, const std::string &gimbal_base_id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true)
-
class GimbalBridge : public rclcpp::Node
Public Functions
-
inline GimbalBridge()
Private Functions
Private Members
-
gz::transport::Node::Publisher gimbal_roll_pub
-
gz::transport::Node::Publisher gimbal_pitch_pub
-
gz::transport::Node::Publisher gimbal_yaw_pub
Private Static Functions
-
static inline void gzJointStateCallback(const gz::msgs::Model &gz_msg, const gz::transport::MessageInfo &msg_info)
-
inline GimbalBridge()
-
struct go_to_plugin_params
-
class GoToAction : public nav2_behavior_tree::BtActionNode<as2_msgs::action::GoToWaypoint>
Public Functions
-
virtual void on_tick()
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
-
virtual void on_tick()
-
class GoToBase
Subclassed by go_to_plugin_position::Plugin, go_to_plugin_trajectory::Plugin
Public Types
-
using GoalHandleGoTo = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
Public Functions
-
inline GoToBase()
-
inline virtual ~GoToBase()
-
inline void state_callback(geometry_msgs::msg::PoseStamped &pose_msg, geometry_msgs::msg::TwistStamped &twist_msg)
-
inline void on_execution_end(const as2_behavior::ExecutionStatus &state)
Protected Functions
-
inline virtual void ownInit()
-
virtual bool own_activate(as2_msgs::action::GoToWaypoint::Goal &goal) = 0
-
inline virtual bool own_modify(as2_msgs::action::GoToWaypoint::Goal &goal)
-
virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) = 0
-
virtual as2_behavior::ExecutionStatus own_run() = 0
-
inline void sendHover()
Protected Attributes
-
as2_msgs::action::GoToWaypoint::Goal goal_
-
as2_msgs::action::GoToWaypoint::Feedback feedback_
-
as2_msgs::action::GoToWaypoint::Result result_
-
int platform_state_
-
go_to_plugin_params params_
-
geometry_msgs::msg::PoseStamped actual_pose_
-
bool localization_flag_
Private Functions
-
inline bool processGoal(as2_msgs::action::GoToWaypoint::Goal &_goal)
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::HoverMotion> hover_motion_handler_ = nullptr
-
using GoalHandleGoTo = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
class GoToBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::GoToWaypoint>
Public Types
-
using GoalHandleGoTo = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
Public Functions
-
~GoToBehavior()
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Private Members
-
std::shared_ptr<pluginlib::ClassLoader<go_to_base::GoToBase>> loader_
-
std::shared_ptr<go_to_base::GoToBase> go_to_plugin_
-
using GoalHandleGoTo = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
class GoToBehaviorEmulator : public as2::BasicBehavior<as2_msgs::action::GoToWaypoint>
Public Types
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
class GoTobehaviorEmulator : public as2::BasicBehavior<as2_msgs::action::GoToWaypoint>
Public Types
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::GoToWaypoint>
-
class GoToGpsAction : public nav2_behavior_tree::BtActionNode<as2_msgs::action::GoToWaypoint>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
-
virtual void on_tick() override
-
class GpsHandler : private GeographicLib::LocalCartesian
Public Functions
-
inline GpsHandler()
Construct a new Gps Handler object based on WGS84 ellipsoid.
-
inline GpsHandler(double lat0, double lon0, double h0 = 0)
Construct a new Gps Handler object based on WGS84 ellipsoid with a given origin.
- Parameters:
lat0 – Latitude at origin (degrees)
lon0 – Longitude at origin (degrees)
h0 – Altitude at origin (meters)
-
void setOrigin(const double &lat0, const double &lon0, const double &h0 = 0)
-
void setOrigin(const geographic_msgs::msg::GeoPoseStamped &gps)
-
void getOrigin(double &rLat, double &rLon, double &rH)
-
void getOrigin(geographic_msgs::msg::GeoPoseStamped &gps)
-
void LatLon2Local(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)
-
void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)
-
void LatLon2Local(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)
-
void LatLon2Local(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)
-
void Local2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)
-
void Local2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)
-
void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)
-
void Local2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
Public Static Functions
-
static void LatLon2Ecef(const double &lat, const double &lon, const double &h, double &rX, double &rY, double &rZ)
-
static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, double &rX, double &rY, double &rZ)
-
static void LatLon2Ecef(const double &lat, const double &lon, const double &h, geometry_msgs::msg::PoseStamped &ps)
-
static void LatLon2Ecef(const geographic_msgs::msg::GeoPoseStamped &gps, geometry_msgs::msg::PoseStamped &ps)
-
static void Ecef2LatLon(const double &x, const double &y, const double &z, double &rLat, double &rLon, double &rH)
-
static void Ecef2LatLon(const double &x, const double &y, const double &z, geographic_msgs::msg::GeoPoseStamped &gps)
-
static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, double &rLat, double &rLon, double &rH)
-
static void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
-
inline GpsHandler()
-
class GpsToCartesian : public nav2_behavior_tree::BtServiceNode<as2_msgs::srv::GeopathToPath>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Fill in service request with information if necessary.
-
virtual void on_tick() override
-
class GroundTruth : protected as2::sensors::GenericSensor
- #include <sensor.hpp>
Class to handle the ground truth of the platform.
Public Functions
-
explicit GroundTruth(as2::Node *node_ptr, const float pub_freq = -1, const std::string &topic_name_base = "")
Construct a new GroundTruth object.
- Parameters:
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
topic_name_base – Base name of the topics. Default is “”
-
virtual ~GroundTruth()
Destroy the GroundTruth object.
-
void updateData(const geometry_msgs::msg::PoseStamped &pose_msg)
Update the data of the ground truth.
- Parameters:
pose_msg – Pose message
-
void updateData(const geometry_msgs::msg::TwistStamped &twist_msg)
Update the data of the ground truth.
- Parameters:
twist_msg – Twist message
-
void updateData(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg)
Update the data of the ground truth.
- Parameters:
pose_msg – Pose message
twist_msg – Twist message
Protected Functions
-
virtual void publishData() override
User must implement the data publishing in this function.
Protected Attributes
-
std::shared_ptr<SensorData<geometry_msgs::msg::PoseStamped>> pose_sensor_
-
std::shared_ptr<SensorData<geometry_msgs::msg::TwistStamped>> twist_sensor_
-
explicit GroundTruth(as2::Node *node_ptr, const float pub_freq = -1, const std::string &topic_name_base = "")
-
class HoverMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
- #include <hover_motion.hpp>
The HoverMotion class is a motion reference handler that allows the robot to hover at the current position.
-
class IsFlyingCondition : public BT::ConditionNode
Public Functions
-
IsFlyingCondition() = delete
Private Functions
-
IsFlyingCondition() = delete
-
struct land_plugin_params
-
class LandAction : public nav2_behavior_tree::BtActionNode<as2_msgs::action::Land>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
-
virtual void on_tick() override
-
class LandBase
Subclassed by land_plugin_platform::Plugin, land_plugin_speed::Plugin, land_plugin_trajectory::Plugin
Public Types
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::Land>
Public Functions
-
inline LandBase()
-
inline virtual ~LandBase()
-
inline virtual void state_callback(geometry_msgs::msg::PoseStamped &pose_msg, geometry_msgs::msg::TwistStamped &twist_msg)
-
inline void on_execution_end(const as2_behavior::ExecutionStatus &state)
Protected Functions
-
inline virtual void ownInit()
-
virtual bool own_activate(as2_msgs::action::Land::Goal &goal) = 0
-
inline virtual bool own_modify(as2_msgs::action::Land::Goal &goal)
-
virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) = 0
-
virtual as2_behavior::ExecutionStatus own_run() = 0
-
inline void sendHover()
Protected Attributes
-
as2_msgs::action::Land::Goal goal_
-
as2_msgs::action::Land::Feedback feedback_
-
as2_msgs::action::Land::Result result_
-
land_plugin_params params_
-
geometry_msgs::msg::PoseStamped actual_pose_
-
bool localization_flag_ = false
Private Functions
-
inline bool processGoal(as2_msgs::action::Land::Goal &_goal)
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::HoverMotion> hover_motion_handler_ = nullptr
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::Land>
-
class LandBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::Land>
Public Types
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::Land>
-
using PSME = as2_msgs::msg::PlatformStateMachineEvent
Public Functions
-
~LandBehavior()
-
bool sendEventFSME(const int8_t _event)
-
bool sendDisarm()
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Private Members
-
as2::SynchronousServiceClient<as2_msgs::srv::SetPlatformStateMachineEvent>::SharedPtr platform_land_cli_
-
as2::SynchronousServiceClient<std_srvs::srv::SetBool>::SharedPtr platform_disarm_cli_
-
using GoalHandleLand = rclcpp_action::ServerGoalHandle<as2_msgs::action::Land>
-
class LandBehaviorEmulator : public as2::BasicBehavior<as2_msgs::action::Land>
-
class MultirotorSimulatorPlatform : public as2::AerialPlatform
Public Functions
-
~MultirotorSimulatorPlatform()
-
virtual void configureSensors() override
Configures the platform sensors.
-
virtual bool ownSetArmingState(bool state) override
Handles how arming state has to be settled in the concrete platform.
- Parameters:
state – true for arming the platform, false to disarm.
- Returns:
true Arming state is settled successfully.
- Returns:
false Arming state is not settled.
-
virtual bool ownSetOffboardControl(bool offboard) override
Handles how offboard mode has to be settled in the concrete platform.
- Parameters:
offboard – true if offboard mode is enabled.
- Returns:
true Offboard mode is settled successfully.
- Returns:
false Offboard mode is not settled.
-
virtual bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode &msg) override
Handles how the control mode has to be settled in the concrete platform.
- Parameters:
control_mode – as2_msgs::msg::PlatformControlMode with the new control mode.
- Returns:
true Control mode is settled successfully.
- Returns:
false Control mode is not settled.
-
virtual bool ownSendCommand() override
Handles how a command must be sended in the concrete platform.
- Returns:
true command is sended successfully.
- Returns:
false command is not sended.
-
virtual void ownStopPlatform() override
Handles the platform emergency stop command. STOP means to hover as best as possible. This hover is different from the hover in the platform control mode. And when it is activated the platform will stop hearing commands from AS2. USE WITH CAUTION.
-
virtual void ownKillSwitch() override
Handles the platform emergency kill switch command. This means stop the motors inmediately, this cannot be reversed. USE WITH CAUTION.
-
virtual bool ownTakeoff() override
Handles the platform takeoff command.
- Returns:
true Takeoff command is sended successfully.
- Returns:
false Takeoff command is not sended.
-
virtual bool ownLand() override
Handles the platform landing command.
- Returns:
true Landing command is sended successfully.
- Returns:
false Landing command is not sended.
Private Types
-
using Simulator = multirotor::Simulator<double, 4>
-
using SimulatorParams = multirotor::SimulatorParams<double, 4>
Private Functions
-
Eigen::Vector3d readVectorParams(const std::string ¶m_name)
Read given parameter of vector type.
- Parameters:
param_name – Name of the parameter
- Returns:
Eigen::Vector3d Vector parameter
-
inline void readParams(PlatformParams &platform_params)
Read platform parameters.
- Parameters:
param_name – platform parameters
-
template<typename T>
inline void getParam(const std::string ¶m_name, T ¶m_value, bool use_default = true) Get parameter from the parameter server.
- Parameters:
param_name – Name of the parameter
param_value – Value of the parameter
use_default – Use default value if parameter is not found
-
void simulatorTimerCallback()
Simulator timer callback.
-
void simulatorControlTimerCallback()
Simulator control timer callback.
-
void simulatorStateTimerCallback()
Simulator state timer callback.
Private Members
-
as2::gps::GpsHandler gps_handler_
-
PlatformParams platform_params_
-
SimulatorParams simulator_params_
-
geometry_msgs::msg::QuaternionStamped gimbal_desired_orientation_
-
std::unique_ptr<as2::sensors::GroundTruth> sensor_ground_truth_ptr_
-
~MultirotorSimulatorPlatform()
-
class Node : public AS2_NODE_FATHER_TYPE
- #include <node.hpp>
Basic Aerostack2 Node, it heritages all the functionality of an rclcpp::Node.
Subclassed by as2::BasicBehavior< as2_msgs::action::Takeoff >, as2::BasicBehavior< as2_msgs::action::FollowPath >, as2::BasicBehavior< as2_msgs::action::GoToWaypoint >, as2::BasicBehavior< as2_msgs::action::Land >, as2::BasicBehavior< as2_msgs::action::Takeoff >, as2::BasicBehavior< as2_msgs::action::FollowPath >, as2::BasicBehavior< as2_msgs::action::GoToWaypoint >, as2::BasicBehavior< as2_msgs::action::Land >, as2_behavior::BehaviorServer< as2_msgs::action::SetArmingState >, as2_behavior::BehaviorServer< as2_msgs::action::Takeoff >, as2_behavior::BehaviorServer< as2_msgs::action::FollowReference >, as2_behavior::BehaviorServer< as2_msgs::action::GeneratePolynomialTrajectory >, as2_behavior::BehaviorServer< as2_msgs::action::FollowPath >, as2_behavior::BehaviorServer< as2_msgs::action::SetOffboardMode >, as2_behavior::BehaviorServer< as2_msgs::action::GoToWaypoint >, as2_behavior::BehaviorServer< as2_msgs::action::PointGimbal >, as2_behavior::BehaviorServer< as2_msgs::action::DetectArucoMarkers >, as2_behavior::BehaviorServer< as2_msgs::action::Land >, AlphanumericViewer, PlatformEmulator, RealsenseInterface, StateEstimator, UsbCameraInterface, as2::AerialPlatform, as2::BasicBehavior< MessageT >, as2::BasicBehavior< MessageT >, as2_behavior::BehaviorServer< actionT >, controller_manager::ControllerManager
Public Functions
-
inline Node(const std::string &name, const std::string &ns, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
Construct a new Node object.
- Parameters:
name – Node name
-
inline explicit Node(const std::string &name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
-
inline void configure()
-
inline void activate()
-
inline void deactivate()
-
inline void cleanup()
-
inline void shutdown()
-
inline void error()
-
std::string generate_local_name(const std::string &name)
transform an string into local topic name inside drone namespace and node namespace
- Parameters:
name – source string
- Returns:
std::string result name
-
std::string generate_global_name(const std::string &name)
transform an string into global topic name inside drone namespace
- Parameters:
name – source string
- Returns:
std::string result name
create a timer with the node clock
- Returns:
rclcpp::TimerBase::SharedPtr rclcpp timer using node clock
-
inline bool sleep()
sleeps the node to ensure node_frecuency desired
- Returns:
true the node is sleeping
- Returns:
false the node is not sleeping, this means that desired frequency is not reached
-
inline double get_loop_frequency()
Get the loop frequency object.
- Returns:
double frequency in Hz
-
inline bool preset_loop_frequency(double frequency)
Protected Types
-
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
Callback for the activate state.
- Param state:
- Return:
CallbackReturn
Protected Functions
-
inline virtual CallbackReturn on_activate(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
-
inline virtual CallbackReturn on_deactivate(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the deactivate state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_configure(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the configure state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_cleanup(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the cleanup state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_shutdown(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the shutdown state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_error(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the error state.
- Parameters:
state –
- Returns:
CallbackReturn
Private Functions
-
inline void init()
-
inline Node(const std::string &name, const std::string &ns, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
-
class ObjectFramePublisher : public rclcpp::Node
Public Functions
-
inline ObjectFramePublisher()
Private Members
Private Static Functions
-
static inline void poseCallback(const gz::msgs::Pose_V &ign_msg, const gz::transport::MessageInfo &msg_info)
-
inline ObjectFramePublisher()
-
class OffboardService : public nav2_behavior_tree::BtServiceNode<std_srvs::srv::SetBool>
-
struct PlatformParams
Public Members
-
double update_freq = 100.0
-
double control_freq = 100.0
-
double state_freq = 100.0
-
double imu_pub_freq = 100.0
-
double odometry_pub_freq = 100.0
-
double ground_truth_pub_freq = 100.0
-
double gps_pub_freq = 100.0
-
double gimbal_pub_freq = 100.0
-
double latitude
-
double longitude
-
double altitude
-
double update_freq = 100.0
-
class PlatformStateMachine
- #include <platform_state_machine.hpp>
This class implements the Platform State Machine, which is in charge of handling the state of the platform using a FSM (Finite State Machine). This state machine consist on 6 states:
DISARMED -> The platform is not armed.
LANDED -> The platform is armed and landed.
TAKING_OFF -> The platform is taking off.
FLYING -> The platform is on air.
LANDING -> The platform is landing.
EMERGENCY -> The platform is in emergency mode.
The events that can trigger the state machine are:
ARM
DISARM
TAKE_OFF
TOOK_OFF
LAND
LANDED
EMERGENCY TODO(miferco97): add figure of the state machine
Public Functions
-
explicit PlatformStateMachine(as2::Node *node)
Constructor of the Platform State Machine.
- Parameters:
node_ptr – Pointer to an aerostack2 node.
-
~PlatformStateMachine()
-
bool processEvent(const int8_t &event)
This function is in charge of handling the state machine.
- Parameters:
event – The event that triggers the state machine.
- Returns:
true If the event is valid in current State.
-
bool processEvent(const Event &event)
This function is in charge of handling the state machine.
- Parameters:
event – The event that triggers the state machine.
- Returns:
true If the event is valid in current State.
-
StateMachineTransition getTransition(const int8_t ¤t_state, const int8_t &event)
Get the Transition object.
- Parameters:
current_state –
event –
- Returns:
-
inline as2_msgs::msg::PlatformStatus getState()
This function returns the current state of the state machine.
- Returns:
The current Platform Status of the state machine
-
inline void setState(as2_msgs::msg::PlatformStatus state)
Set the State of the FSM to the desired state. (THIS MAY BE USED ONLY FOR TESTING PURPOSES)
- Parameters:
state –
-
inline void setState(const int8_t &state)
Private Functions
-
void defineTransitions()
in this function the state machine is created based on the transitions. its called in the constructor of the class.
-
class Plugin : public as2_motion_controller_plugin_base::ControllerBase
Public Functions
-
inline Plugin()
-
inline ~Plugin()
-
virtual void ownInitialize() override
Virtual functions from ControllerBase
-
virtual void updateState(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg) override
-
virtual void updateReference(const as2_msgs::msg::TrajectoryPoint &ref) override
-
virtual bool setMode(const as2_msgs::msg::ControlMode &mode_in, const as2_msgs::msg::ControlMode &mode_out) override
-
virtual bool computeOutput(double dt, geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust) override
-
virtual void reset() override
Private Functions
-
bool checkParamList(const std::string ¶m, std::vector<std::string> &_params_list)
Controller especific functions
-
inline void resetState()
-
void resetReferences()
-
void resetCommands()
-
void computeActions(geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust)
-
bool getOutput(geometry_msgs::msg::TwistStamped &twist_msg, as2_msgs::msg::Thrust &thrust_msg)
-
Eigen::Vector3d getForce(const double &_dt, const Eigen::Vector3d &_pos_state, const Eigen::Vector3d &_vel_state, const Eigen::Vector3d &_pos_reference, const Eigen::Vector3d &_vel_reference, const Eigen::Vector3d &_acc_reference)
-
Acro_command computeTrajectoryControl(const double &_dt, const Eigen::Vector3d &_pos_state, const Eigen::Vector3d &_vel_state, const tf2::Quaternion &_attitude_state, const Eigen::Vector3d &_pos_reference, const Eigen::Vector3d &_vel_reference, const Eigen::Vector3d &_acc_reference, const double &_yaw_angle_reference)
Private Members
-
UAV_reference control_ref_
-
Acro_command control_command_
-
Control_flags flags_
-
bool hover_flag_ = false
-
as2_msgs::msg::ControlMode control_mode_in_
-
as2_msgs::msg::ControlMode control_mode_out_
-
Eigen::Matrix3d Kp_ = {Eigen::Matrix3d::Zero()}
-
Eigen::Matrix3d Kd_ = {Eigen::Matrix3d::Zero()}
-
Eigen::Matrix3d Ki_ = {Eigen::Matrix3d::Zero()}
-
Eigen::Matrix3d Kp_ang_mat_ = {Eigen::Matrix3d::Zero()}
-
Eigen::Vector3d accum_pos_error_ = {Eigen::Vector3d::Zero()}
-
double mass_
-
double antiwindup_cte_ = 0.0
-
const Eigen::Vector3d gravitational_accel_ = Eigen::Vector3d(0, 0, -9.81)
-
const std::vector<std::string> parameters_list_ = {"mass", "trajectory_control.antiwindup_cte", "trajectory_control.alpha", "trajectory_control.kp.x", "trajectory_control.kp.y", "trajectory_control.kp.z", "trajectory_control.ki.x", "trajectory_control.ki.y", "trajectory_control.ki.z", "trajectory_control.kd.x", "trajectory_control.kd.y", "trajectory_control.kd.z", "trajectory_control.roll_control.kp", "trajectory_control.pitch_control.kp", "trajectory_control.yaw_control.kp",}
-
std::vector<std::string> parameters_to_read_ = {parameters_list_}
-
inline Plugin()
-
class Plugin : public follow_path_base::FollowPathBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::FollowPath::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::FollowPath::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline virtual Eigen::Vector3d getTargetPosition() override
Private Functions
-
inline bool checkGoalCondition()
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::PositionMotion> position_motion_handler_ = nullptr
-
double initial_yaw_
-
geometry_msgs::msg::PoseStamped desired_pose_
-
geometry_msgs::msg::TwistStamped desired_twist_
-
inline virtual void ownInit()
-
class Plugin : public follow_path_base::FollowPathBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::FollowPath::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::FollowPath::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline virtual Eigen::Vector3d getTargetPosition() override
-
inline void result_callback(const GoalHandleTrajectoryGenerator::WrappedResult &result)
Private Types
-
using TrajectoryGeneratorAction = as2_msgs::action::GeneratePolynomialTrajectory
-
using GoalHandleTrajectoryGenerator = rclcpp_action::ClientGoalHandle<TrajectoryGeneratorAction>
Private Functions
-
inline as2_msgs::action::GeneratePolynomialTrajectory::Goal followPathGoalToTrajectoryGeneratorGoal(const as2_msgs::action::FollowPath::Goal &_goal)
Private Members
-
std::shared_ptr<rclcpp_action::Client<TrajectoryGeneratorAction>> traj_gen_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_pause_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_resume_client_ = nullptr
-
rclcpp_action::Client<TrajectoryGeneratorAction>::SendGoalOptions traj_gen_goal_options_
-
std::shared_future<GoalHandleTrajectoryGenerator::SharedPtr> traj_gen_goal_handle_future_
-
bool traj_gen_goal_accepted_ = false
-
bool traj_gen_result_received_ = false
-
bool traj_gen_result_ = false
-
geometry_msgs::msg::Pose desired_pose_
-
inline virtual void ownInit()
-
class Plugin : public go_to_base::GoToBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::GoToWaypoint::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::GoToWaypoint::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
Private Functions
-
inline bool checkGoalCondition()
-
inline float getActualYaw()
-
inline bool computeYaw(const uint8_t yaw_mode, const geometry_msgs::msg::Point &target, const geometry_msgs::msg::Point &actual, float &yaw)
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::PositionMotion> position_motion_handler_ = nullptr
-
inline virtual void ownInit()
-
class Plugin : public go_to_base::GoToBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::GoToWaypoint::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::GoToWaypoint::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline void result_callback(const GoalHandleTrajectoryGenerator::WrappedResult &result)
Private Types
-
using TrajectoryGeneratorAction = as2_msgs::action::GeneratePolynomialTrajectory
-
using GoalHandleTrajectoryGenerator = rclcpp_action::ClientGoalHandle<TrajectoryGeneratorAction>
Private Functions
-
inline as2_msgs::action::GeneratePolynomialTrajectory::Goal goToGoalToTrajectoryGeneratorGoal(const as2_msgs::action::GoToWaypoint::Goal &_goal)
Private Members
-
std::shared_ptr<rclcpp_action::Client<TrajectoryGeneratorAction>> traj_gen_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_pause_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_resume_client_ = nullptr
-
rclcpp_action::Client<TrajectoryGeneratorAction>::SendGoalOptions traj_gen_goal_options_
-
std::shared_future<GoalHandleTrajectoryGenerator::SharedPtr> traj_gen_goal_handle_future_
-
TrajectoryGeneratorAction::Feedback traj_gen_feedback_
-
bool traj_gen_goal_accepted_ = false
-
bool traj_gen_result_received_ = false
-
bool traj_gen_result_ = false
-
inline virtual void ownInit()
-
class Plugin : public as2_state_estimator_plugin_base::StateEstimatorBase
-
Private Functions
-
inline void generate_map_frame_from_ground_truth_pose(const geometry_msgs::msg::PoseStamped &pose)
Private Members
-
bool use_gps_ = false
-
bool set_origin_on_start_ = false
-
bool earth_to_map_set_ = false
-
double origin_lat_ = 0.0
-
double origin_lon_ = 0.0
-
double origin_alt_ = 0.0
-
geometry_msgs::msg::TransformStamped earth_to_map_
-
geographic_msgs::msg::GeoPoint::UniquePtr origin_
-
sensor_msgs::msg::NavSatFix::UniquePtr gps_pose_
-
bool using_ignition_tf_ = false
-
inline void generate_map_frame_from_ground_truth_pose(const geometry_msgs::msg::PoseStamped &pose)
-
class Plugin : public land_base::LandBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Land::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline virtual void ownInit()
-
class Plugin : public land_base::LandBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Land::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::Land::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
Private Functions
-
inline bool checkGoalCondition()
-
inline virtual void ownInit()
-
class Plugin : public land_base::LandBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Land::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::Land::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline void result_callback(const GoalHandleTrajectoryGenerator::WrappedResult &result)
Private Types
-
using TrajectoryGeneratorAction = as2_msgs::action::GeneratePolynomialTrajectory
-
using GoalHandleTrajectoryGenerator = rclcpp_action::ClientGoalHandle<TrajectoryGeneratorAction>
Private Functions
-
inline bool checkGoalCondition()
-
inline as2_msgs::action::GeneratePolynomialTrajectory::Goal landGoalToTrajectoryGeneratorGoal(const as2_msgs::action::Land::Goal &_goal)
Private Members
-
std::shared_ptr<rclcpp_action::Client<TrajectoryGeneratorAction>> traj_gen_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_pause_client_ = nullptr
-
as2::SynchronousServiceClient<std_srvs::srv::Trigger>::SharedPtr traj_gen_resume_client_ = nullptr
-
rclcpp_action::Client<TrajectoryGeneratorAction>::SendGoalOptions traj_gen_goal_options_
-
std::shared_future<GoalHandleTrajectoryGenerator::SharedPtr> traj_gen_goal_handle_future_
-
TrajectoryGeneratorAction::Feedback traj_gen_feedback_
-
bool traj_gen_goal_accepted_ = false
-
bool traj_gen_result_received_ = false
-
bool traj_gen_result_ = false
-
double land_speed_condition_percentage_
-
double land_speed_condition_height_
-
float speed_condition_
-
int time_condition_ = 1
-
float initial_height_
-
float land_height_ = -10.0f
-
inline virtual void ownInit()
-
class Plugin : public as2_state_estimator_plugin_base::StateEstimatorBase
-
Public Members
-
geometry_msgs::msg::TwistStamped twist_msg_
Private Members
-
tf2::Transform earth_to_map_ = tf2::Transform::getIdentity()
-
const tf2::Transform map_to_odom_ = tf2::Transform::getIdentity()
-
tf2::Transform odom_to_base_ = tf2::Transform::getIdentity()
-
bool has_earth_to_map_ = false
-
double twist_alpha_ = 1.0
-
double orientation_alpha_ = 1.0
-
geometry_msgs::msg::PoseStamped last_pose_msg_
-
geometry_msgs::msg::TwistStamped twist_msg_
-
class Plugin : public as2_motion_controller_plugin_base::ControllerBase
Public Functions
-
inline Plugin()
-
inline ~Plugin()
-
virtual void ownInitialize() override
-
virtual void updateState(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg) override
-
virtual void updateReference(const geometry_msgs::msg::PoseStamped &ref) override
-
virtual void updateReference(const geometry_msgs::msg::TwistStamped &ref) override
-
virtual void updateReference(const as2_msgs::msg::TrajectoryPoint &ref) override
-
virtual bool setMode(const as2_msgs::msg::ControlMode &mode_in, const as2_msgs::msg::ControlMode &mode_out) override
-
virtual bool computeOutput(double dt, geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust) override
-
virtual void reset() override
Private Types
-
using PID = pid_controller::PID<double>
-
using PID_1D = pid_1d_controller::PID<double>
Private Functions
-
void checkParamList(const std::string ¶m, std::vector<std::string> &_params_list, bool &_all_params_read)
-
void updateControllerParameter(PID_1D &_pid_handler, const std::string &_parameter_name, const rclcpp::Parameter &_param)
-
void updateController3DParameter(PID &_pid_handler, const std::string &_parameter_name, const rclcpp::Parameter &_param)
-
void updateSpeedInAPlaneParameter(PID_1D &_pid_1d_handler, PID &_pid_3d_handler, const std::string &_parameter_name, const rclcpp::Parameter &_param)
-
void resetState()
-
void resetReferences()
-
void resetCommands()
-
bool getOutput(geometry_msgs::msg::TwistStamped &twist_msg)
Private Members
-
as2_msgs::msg::ControlMode control_mode_in_
-
as2_msgs::msg::ControlMode control_mode_out_
-
Control_flags flags_
-
const std::vector<std::string> position_control_parameters_list_ = {"position_control.reset_integral", "position_control.antiwindup_cte", "position_control.alpha", "position_control.kp.x", "position_control.kp.y", "position_control.kp.z", "position_control.ki.x", "position_control.ki.y", "position_control.ki.z", "position_control.kd.x", "position_control.kd.y", "position_control.kd.z"}
-
const std::vector<std::string> velocity_control_parameters_list_ = {"speed_control.reset_integral", "speed_control.antiwindup_cte", "speed_control.alpha", "speed_control.kp.x", "speed_control.kp.y", "speed_control.kp.z", "speed_control.ki.x", "speed_control.ki.y", "speed_control.ki.z", "speed_control.kd.x", "speed_control.kd.y", "speed_control.kd.z"}
-
const std::vector<std::string> speed_in_a_plane_control_parameters_list_ = {"speed_in_a_plane_control.reset_integral", "speed_in_a_plane_control.antiwindup_cte", "speed_in_a_plane_control.alpha", "speed_in_a_plane_control.height.kp", "speed_in_a_plane_control.height.ki", "speed_in_a_plane_control.height.kd", "speed_in_a_plane_control.speed.kp.x", "speed_in_a_plane_control.speed.kp.y", "speed_in_a_plane_control.speed.ki.x", "speed_in_a_plane_control.speed.ki.y", "speed_in_a_plane_control.speed.kd.x", "speed_in_a_plane_control.speed.kd.y"}
-
const std::vector<std::string> trajectory_control_parameters_list_ = {"trajectory_control.reset_integral", "trajectory_control.antiwindup_cte", "trajectory_control.alpha", "trajectory_control.kp.x", "trajectory_control.kp.y", "trajectory_control.kp.z", "trajectory_control.ki.x", "trajectory_control.ki.y", "trajectory_control.ki.z", "trajectory_control.kd.x", "trajectory_control.kd.y", "trajectory_control.kd.z"}
-
const std::vector<std::string> yaw_control_parameters_list_ = {"yaw_control.reset_integral", "yaw_control.antiwindup_cte", "yaw_control.alpha", "yaw_control.kp", "yaw_control.ki", "yaw_control.kd"}
-
std::vector<std::string> plugin_parameters_to_read_ = {plugin_parameters_list_}
-
std::vector<std::string> position_control_parameters_to_read_ = {position_control_parameters_list_}
-
std::vector<std::string> velocity_control_parameters_to_read_ = {velocity_control_parameters_list_}
-
std::vector<std::string> speed_in_a_plane_control_parameters_to_read_{speed_in_a_plane_control_parameters_list_}
-
std::vector<std::string> trajectory_control_parameters_to_read_{trajectory_control_parameters_list_}
-
std::vector<std::string> yaw_control_parameters_to_read_ = {yaw_control_parameters_list_}
-
UAV_command control_command_
-
bool hover_flag_ = false
-
Eigen::Vector3d speed_limits_
-
double yaw_speed_limit_
-
bool use_bypass_ = true
-
bool proportional_limitation_ = false
-
std::string input_pose_frame_id_ = enu_frame_id_
-
std::string input_twist_frame_id_ = enu_frame_id_
-
std::string output_twist_frame_id_ = enu_frame_id_
-
inline Plugin()
-
class Plugin : public as2_state_estimator_plugin_base::StateEstimatorBase
-
Private Functions
Private Members
-
bool use_gps_ = false
-
bool set_origin_on_start_ = false
-
double earth_to_map_height_ = 0.0
-
double origin_lat_ = 0.0
-
double origin_lon_ = 0.0
-
double origin_alt_ = 0.0
-
geometry_msgs::msg::TransformStamped earth_to_map_
-
geographic_msgs::msg::GeoPoint::UniquePtr origin_
-
sensor_msgs::msg::NavSatFix::UniquePtr gps_pose_
-
bool use_gps_ = false
-
class Plugin : public takeoff_base::TakeoffBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline virtual void ownInit()
-
class Plugin : public takeoff_base::TakeoffBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
Private Functions
-
inline bool checkGoalCondition()
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::PositionMotion> position_motion_handler_ = nullptr
-
geometry_msgs::msg::Point takeoff_position_
-
double takeoff_angle_
-
inline virtual void ownInit()
-
class Plugin : public takeoff_base::TakeoffBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
Private Functions
-
inline bool checkGoalCondition()
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::SpeedMotion> speed_motion_handler_ = nullptr
-
inline virtual void ownInit()
-
class Plugin : public takeoff_base::TakeoffBase
Public Functions
-
inline virtual void ownInit()
-
inline virtual bool own_activate(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual bool own_modify(as2_msgs::action::Takeoff::Goal &_goal) override
-
inline virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline virtual as2_behavior::ExecutionStatus own_run() override
-
inline void result_callback(const GoalHandleTrajectoryGenerator::WrappedResult &result)
Private Types
-
using TrajectoryGeneratorAction = as2_msgs::action::GeneratePolynomialTrajectory
-
using GoalHandleTrajectoryGenerator = rclcpp_action::ClientGoalHandle<TrajectoryGeneratorAction>
Private Functions
-
inline as2_msgs::action::GeneratePolynomialTrajectory::Goal takeoffGoalToTrajectoryGeneratorGoal(const as2_msgs::action::Takeoff::Goal &_goal)
Private Members
-
std::shared_ptr<rclcpp_action::Client<TrajectoryGeneratorAction>> traj_gen_client_ = nullptr
-
rclcpp_action::Client<TrajectoryGeneratorAction>::SendGoalOptions traj_gen_goal_options_
-
std::shared_future<GoalHandleTrajectoryGenerator::SharedPtr> traj_gen_goal_handle_future_
-
TrajectoryGeneratorAction::Feedback traj_gen_feedback_
-
bool traj_gen_goal_accepted_ = false
-
bool traj_gen_result_received_ = false
-
bool traj_gen_result_ = false
-
inline virtual void ownInit()
-
class PointGimbalBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::PointGimbal>
Public Functions
-
virtual ~PointGimbalBehavior() = default
Protected Functions
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
-
bool check_gimbal_limits(const double roll, const double pitch, const double yaw)
-
bool update_gimbal_state()
-
bool check_finished()
Private Members
-
double gimbal_threshold_
-
double gimbal_roll_min_
-
double gimbal_roll_max_
-
double gimbal_pitch_min_
-
double gimbal_pitch_max_
-
double gimbal_yaw_min_
-
double gimbal_yaw_max_
-
geometry_msgs::msg::PointStamped desired_goal_position_
-
geometry_msgs::msg::PointStamped current_goal_position_
-
geometry_msgs::msg::Vector3Stamped gimbal_angles_current_
-
as2_msgs::msg::GimbalControl gimbal_control_msg_
-
virtual ~PointGimbalBehavior() = default
-
struct Position2D
-
class PositionMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
- #include <position_motion.hpp>
The PositionMotion class is a motion reference handler that moves the robot to a given position.
Public Functions
-
PositionMotion(as2::Node *node_ptr, const std::string &ns = "")
PositionMotion Constructor.
- Parameters:
node – as2::Node pointer.
-
inline ~PositionMotion()
-
bool ownSendCommand()
ownSendCommand sends the pose and twist messages.
- Returns:
true if commands was sent successfully, false otherwise.
-
bool sendPositionCommandWithYawAngle(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const float &yaw_angle, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)
sendPositionCommandWithYawAngle sends a position command to the robot. The yaw angle is given in radians. The linear velocity limitation is given in m/s. The position command and the velocity limitation are sent in the input frame id.
- Parameters:
frame_id_pose – frame id of the position command.
x – x coordinate of the position command.
y – y coordinate of the position command.
z – z coordinate of the position command.
yaw_angle – yaw angle of the position command.
frame_id_twist – frame id of the velocity limitation.
vx – linear velocity limitation in x direction.
vy – linear velocity limitation in y direction.
vz – linear velocity limitation in z direction.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendPositionCommandWithYawAngle(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const geometry_msgs::msg::Quaternion &q, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)
sendPositionCommandWithYawAngle sends a position command to the robot. The yaw angle is given in a quaternion. The linear velocity is given in m/s. The position command and the velocity limitation are sent in the input frame id.
- Parameters:
frame_id_pose – frame id of the position command.
x – x coordinate of the position command.
y – y coordinate of the position command.
z – z coordinate of the position command.
q – quaternion of the position command. (with the desired yaw angle).
frame_id_twist – frame id of the velocity limitation.
vx – linear velocity limitation in x direction.
vy – linear velocity limitation in y direction.
vz – linear velocity limitation in z direction.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendPositionCommandWithYawAngle(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)
sendPositionCommandWithYawAngle sends a position command to the robot. The position command is sent in the frame id frame.
- Parameters:
pose – geometry_msgs::msg::PoseStamped with the desired position and yaw angle.
twist – geometry_msgs::msg::TwistStamped with the desired linear velocity.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendPositionCommandWithYawSpeed(const std::string &frame_id_pose, const float &x, const float &y, const float &z, const float &yaw_speed, const std::string &frame_id_twist, const float &vx, const float &vy, const float &vz)
sendPositionCommandWithYawSpeed sends a position command to the robot. The yaw speed is given in rad/s. The linear velocity is given in m/s. The position command and the velocity limitation are sent in the input frame id.
- Parameters:
frame_id_pose – frame id of the position command.
x – x coordinate of the position command.
y – y coordinate of the position command.
z – z coordinate of the position command.
yaw_speed – yaw speed of the position command.
frame_id_twist – frame id of the velocity limitation.
vx – linear velocity limitation in x direction.
vy – linear velocity limitation in y direction.
vz – linear velocity limitation in z direction.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendPositionCommandWithYawSpeed(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)
sendPositionCommandWithYawSpeed sends a position command to the robot. The position command is sent in the frame id frame.
- Parameters:
x – pose geometry_msgs::msg::PoseStamped with the desired position.
twist – geometry_msgs::msg::TwistStamped with the desired linear velocity and yaw speed.
- Returns:
true if the command was sent successfully, false otherwise.
-
PositionMotion(as2::Node *node_ptr, const std::string &ns = "")
-
class PrintTarget : public SyncActionNode, public SyncActionNode
Public Functions
-
inline NodeStatus tick() override
-
inline PrintTarget(const std::string &name, const NodeConfiguration &config)
-
inline NodeStatus tick() override
Public Static Functions
-
static inline PortsList providedPorts()
-
static inline PortsList providedPorts()
-
inline NodeStatus tick() override
-
struct Quaternion
-
class RateBase
Subclassed by as2::rate::GenericRate< Clock >
-
class RealsenseInterface : public as2::Node
Public Functions
-
RealsenseInterface()
Constructor of the RealsenseInterface object.
-
void stop()
Stop rutine for odometry node. This function stops the pipeline.
-
void run()
Funtionality during node lifetime. This function gets the sensor measurements from realsense device and publish them.
Private Functions
-
bool setup()
-
void runImu(const rs2::motion_frame &accel_frame, const rs2::motion_frame &gyro_frame)
-
void runPose(const rs2::pose_frame &pose_frame)
-
void runOdom(const rs2::pose_frame &pose_frame)
-
void runColor(const rs2::video_frame &color_frame)
-
bool identifyDevice()
-
bool identifySensors(const rs2::device &dev)
Private Members
-
bool verbose_
-
bool device_not_found_
-
bool imu_available_
-
bool depth_available_
-
bool color_available_
-
bool fisheye_available_
-
bool pose_available_
-
rs2::pipeline pipe_
-
geometry_msgs::msg::TransformStamped rs_odom2rs_link_tf_
-
tf2::Transform base_link_to_realsense_link_
-
tf2::Transform base_link_to_realsense_pose_odom_
-
tf2::Transform realsense_link_to_realsense_pose_
-
tf2::Transform realsense_link_to_realsense_pose_odom_
-
tf2::Transform realsense_pose_
-
RealsenseInterface()
-
template<typename T>
class Sensor : public as2::sensors::TFStatic, protected as2::sensors::GenericSensor, protected as2::sensors::SensorData<T> - #include <sensor.hpp>
Sensor handler to publish sensor data at a given frequency.
Public Functions
-
inline Sensor(const std::string &id, as2::Node *node_ptr, float pub_freq = -1.0f, bool add_sensor_measurements_base = true)
Construct a new Sensor object.
- Parameters:
id – Sensor ID
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
-
inline Sensor(const std::string &id, as2::Node *node_ptr, int pub_freq, bool add_sensor_measurements_base = true)
Construct a new Sensor object.
- Parameters:
id – Sensor ID
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
-
inline Sensor(const std::string &id, as2::Node *node_ptr, double pub_freq, bool add_sensor_measurements_base = true)
Construct a new Sensor object.
- Parameters:
id – Sensor ID
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
Protected Functions
-
inline virtual void publishData() override
Publish the data in a topic.
-
inline Sensor(const std::string &id, as2::Node *node_ptr, float pub_freq = -1.0f, bool add_sensor_measurements_base = true)
-
template<typename T>
class SensorData - #include <sensor.hpp>
SensorData object to publish data in a topic.
- Template Parameters:
T – Type of the message
Subclassed by as2::sensors::Sensor< T >
Public Functions
-
inline explicit SensorData(const std::string &topic_name, rclcpp::Node *node_ptr, bool add_sensor_measurements_base = true)
Construct a new GenericSensor object.
- Parameters:
node_ptr – Pointer to the node
-
inline virtual ~SensorData()
Destroy the GenericSensor object.
-
inline void publish()
Publish the data stored in the message.
-
inline void updateAndPublish(const T &msg)
Update the message value and publish it.
- Parameters:
msg – Message
Public Static Functions
-
static inline std::string processTopicName(const std::string &topic_name, bool add_sensor_measurements_base = true)
Process the topic name with the sensor measurements base.
- Parameters:
topic_name – Topic name
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
- Returns:
std::string Processed topic name
-
class SetArmingStateBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::SetArmingState>
Public Functions
-
inline SetArmingStateBehavior()
-
inline virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline SetArmingStateBehavior()
-
class SetOffboardModeBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::SetOffboardMode>
Public Functions
-
inline SetOffboardModeBehavior()
-
inline virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
-
inline SetOffboardModeBehavior()
-
class SetOrigin : public nav2_behavior_tree::BtServiceNode<as2_msgs::srv::SetOrigin>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Fill in service request with information if necessary.
-
virtual void on_tick() override
-
class SpeedInAPlaneMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
- #include <speed_in_a_plane_motion.hpp>
The SpeedInAPlaneMotion class is a motion reference handler that moves the robot at a given speed.
Public Functions
-
SpeedInAPlaneMotion(as2::Node *node_ptr, const std::string &ns = "")
PositionMotion Constructor.
- Parameters:
node – as2::Node pointer.
-
inline ~SpeedInAPlaneMotion()
-
bool ownSendCommand()
ownSendCommand sends pose and twist messages.
- Returns:
true if commands was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawSpeed(const std::string &frame_id_speed, const float vx, const float vy, const std::string &frame_id_pose, const float hz, const float yaw_speed)
sendSpeedInAPlaneCommandWithYawAngle sends a speed in a plane command to the robot with a yaw speed. The speed plane command is sent in the frame id frame. The linear velocity is given in m/s. The height command is sent in the frame id frame. The height is given in m.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
frame_id_yaw – frame id of the height and yaw angle command.
hz – Height in the z axis.
yaw_speed – Yaw speed in radians/s.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawSpeed(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)
sendSpeedInAPlaneCommandWithYawAngle sends a speed in a plane command to the robot with a yaw speed. The speed plane command is sent in the frame id frame. The linear velocity is given in m/s. The height command is sent in the frame id frame. The height is given in m.
- Parameters:
pose – PoseStamped message that represents the height.
twist – TwistStamped message that represents the linear velocity and yaw speed.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawAngle(const std::string &frame_id_speed, const float vx, const float vy, const std::string &frame_id_pose, const float hz, const float yaw_angle)
sendSpeedInAPlaneCommandWithYawAngle sends a speed in a plane command to the robot with a yaw angle. The speed plane command is sent in the frame id frame. The linear velocity is given in m/s. The height command is sent in the frame id frame. The height is given in m.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
frame_id_yaw – frame id of the height and yaw angle command.
hz – Height in the z axis.
yaw_angle – Yaw angle in radians.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawAngle(const std::string &frame_id_speed, const float vx, const float vy, const std::string &frame_id_pose, const float hz, const geometry_msgs::msg::Quaternion &q)
sendSpeedInAPlaneCommandWithYawAngle sends a speed in a plane command to the robot with a yaw angle. The speed plane command is sent in the frame id frame. The linear velocity is given in m/s. The height command is sent in the frame id frame. The height is given in m.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
frame_id_yaw – frame id of the height and yaw angle command.
hz – Height in the z axis.
q – Quaternion that represents the yaw angle.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawAngle(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)
sendSpeedInAPlaneCommandWithYawAngle sends a speed in a plane command to the robot with a yaw angle. The speed plane command is sent in the frame id frame. The linear velocity is given in m/s. The height command is sent in the frame id frame. The height is given in m.
- Parameters:
pose – PoseStamped message that represents the height and yaw angle.
twist – TwistStamped message that represents the linear velocity.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawAngle(const std::string &frame_id_speed, const float &vx, const float &vy, const std::string &frame_id_pose, const float &hz, const float &yaw_angle)
sendSpeedInAPlaneCommandWithYawAngle sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
hz – Height in the z axis.
frame_id_yaw – frame id of the yaw angle command.
yaw_angle – Yaw angle in radians.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawAngle(const std::string &frame_id_speed, const float &vx, const float &vy, const std::string &frame_id_pose, const float &hz, const geometry_msgs::msg::Quaternion &q)
sendSpeedInAPlaneCommandWithYawAngle sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
hz – Height in the z axis.
frame_id_yaw – frame id of the yaw angle command.
q – Quaternion that represents the yaw angle.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedInAPlaneCommandWithYawSpeed(const std::string &frame_id, const float &vx, const float &vy, const std::string &frame_id_pose, const float &hz, const float &yaw_speed)
sendSpeedInAPlaneCommandWithYawSpeed sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s. The yaw speed is given in rad/s.
- Parameters:
frame_id – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
vz – Linear velocity in the z axis.
yaw_speed – Yaw speed in rad/s.
- Returns:
true if the command was sent successfully, false otherwise.
-
SpeedInAPlaneMotion(as2::Node *node_ptr, const std::string &ns = "")
-
class SpeedMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
- #include <speed_motion.hpp>
The SpeedMotion class is a motion reference handler that moves the robot at a given speed.
Public Functions
-
SpeedMotion(as2::Node *node_ptr, const std::string &ns = "")
PositionMotion Constructor.
- Parameters:
node – as2::Node pointer.
-
inline ~SpeedMotion()
-
bool ownSendCommand()
ownSendCommand sends pose and twist messages.
- Returns:
true if commands was sent successfully, false otherwise.
-
bool sendSpeedCommandWithYawAngle(const std::string &frame_id_speed, const float &vx, const float &vy, const float &vz, const std::string &frame_id_yaw, const float &yaw_angle)
sendSpeedCommandWithYawAngle sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
vz – Linear velocity in the z axis.
frame_id_yaw – frame id of the yaw angle command.
yaw_angle – Yaw angle in radians.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedCommandWithYawAngle(const std::string &frame_id_speed, const float &vx, const float &vy, const float &vz, const std::string &frame_id_yaw, const geometry_msgs::msg::Quaternion &q)
sendSpeedCommandWithYawAngle sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s.
- Parameters:
frame_id_speed – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
vz – Linear velocity in the z axis.
frame_id_yaw – frame id of the yaw angle command.
q – Quaternion that represents the yaw angle.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedCommandWithYawAngle(const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist)
sendSpeedCommandWithYawAngle sends a speed command to the robot. The speed command is sent in the frame id frame. The linear velocity is given in m/s.
- Parameters:
pose – PoseStamped message that represents the rotation .
twist – TwistStamped message that represents the linear velocity.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedCommandWithYawSpeed(const std::string &frame_id, const float &vx, const float &vy, const float &vz, const float &yaw_speed)
sendSpeedCommandWithYawSpeed sends a speed command to the robot. The speed command is sent in the input frame id. The linear velocity is given in m/s. The yaw speed is given in rad/s.
- Parameters:
frame_id – frame id of the velocity command.
vx – Linear velocity in the x axis.
vy – Linear velocity in the y axis.
vz – Linear velocity in the z axis.
yaw_speed – Yaw speed in rad/s.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendSpeedCommandWithYawSpeed(const geometry_msgs::msg::TwistStamped &twist)
sendSpeedCommandWithYawSpeed sends a speed command to the robot. The speed command is sent in the frame id frame. The linear velocity is given in m/s. The yaw speed is given in rad/s.
- Parameters:
twist – TwistStamped message that represents the linear velocity and the angular yaw speed
- Returns:
true if the command was sent successfully, false otherwise.
-
SpeedMotion(as2::Node *node_ptr, const std::string &ns = "")
-
class StateEstimator : public as2::Node
-
Private Members
-
std::shared_ptr<pluginlib::ClassLoader<as2_state_estimator_plugin_base::StateEstimatorBase>> loader_
-
std::shared_ptr<as2_state_estimator_plugin_base::StateEstimatorBase> plugin_ptr_
-
std::shared_ptr<pluginlib::ClassLoader<as2_state_estimator_plugin_base::StateEstimatorBase>> loader_
-
class StateEstimatorBase
Subclassed by ground_truth::Plugin, mocap_pose::Plugin, raw_odometry::Plugin
Public Functions
-
inline StateEstimatorBase()
-
virtual void on_setup() = 0
-
inline virtual bool get_earth_to_map_transform(geometry_msgs::msg::TransformStamped &transform)
Protected Functions
-
inline void publish_transform(const geometry_msgs::msg::TransformStamped &transform)
-
inline void publish_static_transform(const geometry_msgs::msg::TransformStamped &transform)
-
inline void publish_twist(const geometry_msgs::msg::TwistStamped &twist)
-
inline void publish_pose(const geometry_msgs::msg::PoseStamped &pose)
-
inline bool get_earth_to_map_transform(tf2::Transform &earth_to_map)
-
inline bool convert_earth_to_baselink_2_odom_to_baselink_transform(const tf2::Transform &earth_to_baselink, tf2::Transform &odom_to_baselink, const tf2::Transform &earth_to_map, const tf2::Transform &map_to_odom = tf2::Transform::getIdentity())
-
inline bool convert_odom_to_baselink_2_earth_to_baselink_transform(const tf2::Transform &odom_to_baselink, tf2::Transform &earth_to_baselink, const tf2::Transform &earth_to_map, const tf2::Transform &map_to_odom = tf2::Transform::getIdentity())
Protected Attributes
-
tf2::Transform odom_to_baselink
-
tf2::Transform earth_to_map
-
tf2::Transform earth_to_baselink
-
bool static_transforms_published_ = false
Private Functions
-
inline void check_standard_transform(const geometry_msgs::msg::TransformStamped &transform)
-
inline StateEstimatorBase()
-
struct StateMachineTransition
- #include <platform_state_machine.hpp>
Data Structure for defining the state machine transitions.
-
class SuctionGripperPlugin : public ignition::gazebo::System, public ignition::gazebo::ISystemConfigure, public ignition::gazebo::ISystemPreUpdate
- #include <SuctionGripper.hh>
This plugin implements a suction gripper. When the gripper makes contact with an item it picks up the item. One can command the release of the item through a configurable topic. The plugin requires a contact sensor to detect when an item is in contact.
Parameters
<parent_link> The link to which this gripper should be attached. [string] <contact_sensor_topic> The topic to listen to for contact sensor inputs. [string] <command_topic> The topic to listen to for commands. [string]
Subscribers
<contact_sensor_topic> used to detect when an item is in contact. [gz::msgs::Contacts] <command_topic> - used to command the release of an item. Sending a False to this topic will cause the suction to stop. If there is an object then it will be released, otherwise new objects will not be picked up. Sending a true signal again will cause the suction to start again. By default suction is on. [igntion::msgs::Boolean]
Public Members
-
std::unique_ptr<SuctionGripperPrivate> dataPtr
-
std::unique_ptr<SuctionGripperPrivate> dataPtr
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class SuctionGripperPrivate
Public Functions
-
inline void OnContact(int idx0, int idx1, const gz::msgs::Contacts &_msg)
Callback for when contact is made.
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inline void OnCmd(const gz::msgs::Boolean &_suctionOn)
Command callback.
Public Members
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Entity childItem = {kNullEntity}
The item being moved.
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Entity joint = {kNullEntity}
Used to store the joint when we attach to an object.
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Entity gripperEntity = {kNullEntity}
The gripper link entity.
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transport::Node node
The transport node.
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bool suctionOn = {false}
Used for determining when the suction is on.
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bool pendingJointCreation = {false}
Set to true when we detect the suction gripper is in contact.
-
bool jointCreated = {false}
True when we are holding an object.
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transport::Node::Publisher contactPublisherCenter
Publisher for contact points.
-
transport::Node::Publisher contactPublisherLeft
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transport::Node::Publisher contactPublisherRight
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transport::Node::Publisher contactPublisherTop
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transport::Node::Publisher contactPublisherBottom
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inline void OnContact(int idx0, int idx1, const gz::msgs::Contacts &_msg)
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template<class ServiceT>
class SynchronousServiceClient - #include <synchronous_service_client.hpp>
Class for handling synchronous service clients in ROS2 without taking care about the spin() method.
Public Types
Public Functions
-
inline SynchronousServiceClient(std::string service_name, as2::Node *node)
Constructor.
- Parameters:
service_name – Name of the service
-
inline bool sendRequest(const RequestT &req, ResponseT &resp, int wait_time = 0)
Send Request synchronously to the service.
- Parameters:
request – Request to be sent to the service
respone – Response received from the service
wait_time – Time to wait for the service to be available in seconds
- Returns:
True if the service was called successfully, false otherwise
Send Request synchronously to the service.
- Parameters:
request – Request to be sent to the service
respone – Response received from the service
wait_time – Time to wait for the service to be available in seconds
- Returns:
True if the service was called successfully, false otherwise
-
inline SynchronousServiceClient(std::string service_name, as2::Node *node)
-
struct takeoff_plugin_params
-
class TakeoffAction : public nav2_behavior_tree::BtActionNode<as2_msgs::action::Takeoff>
Public Functions
-
virtual void on_tick() override
Function to perform some user-defined operation on tick Could do dynamic checks, such as getting updates to values on the blackboard.
-
inline virtual BT::NodeStatus on_success()
Function to perform some user-defined operation upon successful completion of the action. Could put a value on the blackboard.
- Returns:
BT::NodeStatus Returns SUCCESS by default, user may override return another value
-
virtual void on_tick() override
-
class TakeoffBase
Subclassed by takeoff_plugin_platform::Plugin, takeoff_plugin_position::Plugin, takeoff_plugin_speed::Plugin, takeoff_plugin_trajectory::Plugin
Public Types
-
using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>
Public Functions
-
inline TakeoffBase()
-
inline virtual ~TakeoffBase()
-
inline virtual void state_callback(geometry_msgs::msg::PoseStamped &pose_msg, geometry_msgs::msg::TwistStamped &twist_msg)
-
inline void on_execution_end(const as2_behavior::ExecutionStatus &state)
Protected Functions
-
inline virtual void ownInit()
-
virtual bool own_activate(as2_msgs::action::Takeoff::Goal &goal) = 0
-
inline virtual bool own_modify(as2_msgs::action::Takeoff::Goal &goal)
-
virtual void own_execution_end(const as2_behavior::ExecutionStatus &state) = 0
-
virtual as2_behavior::ExecutionStatus own_run() = 0
-
inline void sendHover()
Protected Attributes
-
as2_msgs::action::Takeoff::Goal goal_
-
as2_msgs::action::Takeoff::Feedback feedback_
-
as2_msgs::action::Takeoff::Result result_
-
takeoff_plugin_params params_
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geometry_msgs::msg::PoseStamped actual_pose_
-
bool localization_flag_
Private Functions
-
inline bool processGoal(as2_msgs::action::Takeoff::Goal &_goal)
Private Members
-
std::shared_ptr<as2::motionReferenceHandlers::HoverMotion> hover_motion_handler_ = nullptr
-
using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>
-
class TakeoffBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::Takeoff>
Public Types
-
using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>
-
using PSME = as2_msgs::msg::PlatformStateMachineEvent
Public Functions
-
~TakeoffBehavior()
-
bool sendEventFSME(const int8_t _event)
-
virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override
Private Members
-
std::shared_ptr<pluginlib::ClassLoader<takeoff_base::TakeoffBase>> loader_
-
std::shared_ptr<takeoff_base::TakeoffBase> takeoff_plugin_
-
as2::SynchronousServiceClient<as2_msgs::srv::SetPlatformStateMachineEvent>::SharedPtr platform_cli_
-
using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>
-
class TakeoffBehaviorEmulator : public as2::BasicBehavior<as2_msgs::action::Takeoff>
-
class TFDynamic
- #include <sensor.hpp>
TFDynamic object to publish dynamic transforms in TF.
Subclassed by as2::sensors::Gimbal
Public Functions
-
explicit TFDynamic(rclcpp::Node *node_ptr)
Construct a new TFDynamic object.
- Parameters:
node_ptr – Pointer to the node
-
virtual void setDynamicTransform(const geometry_msgs::msg::TransformStamped &transform)
Publish the transform.
- Parameters:
transform_msg – Transform message
-
virtual void setDynamicTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float qx, float qy, float qz, float qw)
Add a dynamic transform.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
qx – Quaternion X
qy – Quaternion Y
qz – Quaternion Z
qw – Quaternion W
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virtual void setDynamicTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float roll, float pitch, float yaw)
Add a dynamic transform.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
roll – Roll (rad)
pitch – Pitch (rad)
yaw – Yaw (rad)
-
explicit TFDynamic(rclcpp::Node *node_ptr)
-
class TfHandler
- #include <tf_utils.hpp>
TfHandler class to handle the tf2_ros::Buffer and tf2_ros::TransformListener with ease inside a as2::Node class.
Public Functions
-
inline explicit TfHandler(as2::Node *_node)
Construct a new Tf Handler object.
- Parameters:
_node – an as2::Node object
-
inline std::shared_ptr<tf2_ros::Buffer> getTfBuffer() const
Get the tf buffer object.
- Returns:
std::shared_ptr<tf2_ros::Buffer>
-
geometry_msgs::msg::PointStamped convert(const geometry_msgs::msg::PointStamped &_point, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::PointStamped from one frame to another
- Parameters:
_point – a geometry_msgs::msg::PointStamped
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::PointStamped in the target frame
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geometry_msgs::msg::PoseStamped convert(const geometry_msgs::msg::PoseStamped &_pose, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::PoseStamped from one frame to another
- Parameters:
_pose – a geometry_msgs::msg::PoseStamped
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::PoseStamped in the target frame
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geometry_msgs::msg::TwistStamped convert(const geometry_msgs::msg::TwistStamped &_twist, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::TwistStamped from one frame to another (only the linear part will be converted, the angular part will be maintained)
- Parameters:
_twist – a geometry_msgs::msg::TwistStamped
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::TwistStamped in the target frame
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geometry_msgs::msg::Vector3Stamped convert(const geometry_msgs::msg::Vector3Stamped &_vector, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::Vector3Stamped from one frame to another
- Parameters:
_vector – a geometry_msgs::msg::Vector3Stamped
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::Vector3Stamped in the target frame
convert a nav_msgs::msg::Path from one frame to another
- Parameters:
_path – a nav_msgs::msg::Path
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
nav_msgs::msg::Path in the target frame
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geometry_msgs::msg::QuaternionStamped convert(const geometry_msgs::msg::QuaternionStamped &_quaternion, const std::string &target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::QuaternionStamped from one frame to another
- Parameters:
_quaternion – a geometry_msgs::msg::QuaternionStamped
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::QuaternionStamped in the target frame
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geometry_msgs::msg::PoseStamped getPoseStamped(const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
obtain a PoseStamped from the TF_buffer
- Parameters:
target_frame – the target frame
source_frame – the source frame
time – the time of the transform in Ros Time
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::PoseStamped
-
geometry_msgs::msg::PoseStamped getPoseStamped(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
obtain a TransformStamped from the TF_buffer
- Parameters:
target_frame – the target frame
source_frame – the source frame
time – the time of the transform in TimePoint
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::TransformStamped
-
geometry_msgs::msg::QuaternionStamped getQuaternionStamped(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
obtain a TransformStamped from the TF_buffer
- Parameters:
target_frame – the target frame
source_frame – the source frame
time – the time of the transform
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::QuaternionStamped
-
geometry_msgs::msg::QuaternionStamped getQuaternionStamped(const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
obtain a TransformStamped from the TF_buffer
- Parameters:
target_frame – the target frame
source_frame – the source frame
time – the time of the transform
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::QuaternionStamped
-
geometry_msgs::msg::TransformStamped getTransform(const std::string &target_frame, const std::string &source_frame, const tf2::TimePoint &time = tf2::TimePointZero)
obtain a TransformStamped from the TF_buffer
- Parameters:
target_frame – the target frame
source_frame – the source frame
time – the time of the transform
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
geometry_msgs::msg::QuaternionStamped
-
bool tryConvert(geometry_msgs::msg::PointStamped &_point, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::PointStamped to desired frame, checking if frames are valid
- Parameters:
point – a geometry_msgs::msg::PointStamped to get converted
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
bool true if the conversion was successful
-
bool tryConvert(geometry_msgs::msg::PoseStamped &_pose, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::PoseStamped to desired frame, checking if frames are valid
- Parameters:
point – a geometry_msgs::msg::PoseStamped to get converted
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
bool true if the conversion was successful
-
bool tryConvert(geometry_msgs::msg::TwistStamped &_twist, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::TwistStamped to desired frame, checking if frames are valid
- Parameters:
point – a geometry_msgs::msg::TwistStamped to get converted
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
bool true if the conversion was successful
-
bool tryConvert(geometry_msgs::msg::QuaternionStamped &_quaternion, const std::string &_target_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
Get the pose and twist of the UAV at the given twist timestamp, in the given frames.
- Parameters:
_twist –
_twist_target_frame –
_pose_target_frame –
_pose_source_frame –
_timeout –
- Returns:
std::pair<geometry_msgs::msg::PoseStamped, geometry_msgs::msg::TwistStamped>
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std::pair<geometry_msgs::msg::PoseStamped, geometry_msgs::msg::TwistStamped> getState(const geometry_msgs::msg::TwistStamped &_twist, const std::string &_twist_target_frame, const std::string &_pose_target_frame, const std::string &_pose_source_frame, const std::chrono::nanoseconds timeout = TF_TIMEOUT)
convert a geometry_msgs::msg::QuaternionStamped to desired frame, checking if frames are valid
- Parameters:
_quaternion – a geometry_msgs::msg::QuaternionStamped to get converted
_target_frame – the target frame
- Throws:
tf2::TransformException – if the transform is not available
- Returns:
bool true if the conversion was successful
-
inline explicit TfHandler(as2::Node *_node)
-
class TFStatic
- #include <sensor.hpp>
TFStatic object to publish static transforms in TF.
Subclassed by as2::sensors::Camera, as2::sensors::Gimbal, as2::sensors::Sensor< T >
Public Functions
-
virtual void setStaticTransform(const geometry_msgs::msg::TransformStamped &transformStamped)
Set the Static Transform in TF.
- Parameters:
transformStamped – TransformStamped message
-
virtual void setStaticTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float qx, float qy, float qz, float qw)
Set the Static Transform in TF.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
qx – Quaternion X
qy – Quaternion Y
qz – Quaternion Z
qw – Quaternion W
-
virtual void setStaticTransform(const std::string &frame_id, const std::string &parent_frame_id, float x, float y, float z, float roll, float pitch, float yaw)
Set the Static Transform in TF.
- Parameters:
frame_id – Frame ID
parent_frame_id – Parent Frame ID
x – X position (m)
y – Y position (m)
z – Z position (m)
roll – Roll (rad)
pitch – Pitch (rad)
yaw – Yaw (rad)
Private Functions
-
virtual void setStaticTransform_(const geometry_msgs::msg::TransformStamped &transformStamped)
Set the Static Transform in TF.
- Parameters:
transformStamped – TransformStamped message
-
virtual void setStaticTransform(const geometry_msgs::msg::TransformStamped &transformStamped)
-
class TrajectoryMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
- #include <trajectory_motion.hpp>
The TrajectoryMotion class is a motion reference handler that sends a puntual trajectory reference to the robot. The trajectory point is given by a position, a yaw angle, a velocity and a acceleration.
Public Functions
-
TrajectoryMotion(as2::Node *node_ptr, const std::string &ns = "")
TrajectoryMotion constructor.
- Parameters:
node – as2::Node pointer.
-
inline ~TrajectoryMotion()
-
bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double x, const double y, const double z, const double yaw_angle, const double vx, const double vy, const double vz, const double ax, const double ay, const double az)
sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.
- Parameters:
frame_id – frame id of trayectory point.
x – x coordinate of the trajectory point.
y – y coordinate of the trajectory point.
z – z coordinate of the trajectory point.
yaw_angle – yaw angle of the trajectory point.
vx – x velocity of the trajectory point.
vy – y velocity of the trajectory point.
vz – z velocity of the trajectory point.
ax – x acceleration of the trajectory point.
ay – y acceleration of the trajectory point.
az – z acceleration of the trajectory point.
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double yaw_angle, const std::vector<double> &positions, const std::vector<double> &velocities, const std::vector<double> &accelerations)
sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.
- Parameters:
frame_id – frame id of trayectory point.
yaw_angle – yaw angle of the trajectory point.
positions – vector of positions of the trajectory point (x,y,z).
velocities – vector of velocities of the trajectory point (vx,vy,vz).
accelerations – vector of accelerations of the trajectory point (ax,ay,az).
- Returns:
true if the command was sent successfully, false otherwise.
-
bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double yaw_angle, const Eigen::Vector3d &positions, const Eigen::Vector3d &velocities, const Eigen::Vector3d &accelerations)
sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.
- Parameters:
frame_id – frame id of trayectory point.
yaw_angle – yaw angle of the trajectory point.
positions – vector of positions of the trajectory point (x,y,z).
velocities – vector of velocities of the trajectory point (vx,vy,vz).
accelerations – vector of accelerations of the trajectory point (ax,ay,az).
- Returns:
true if the command was sent successfully, false otherwise.
-
TrajectoryMotion(as2::Node *node_ptr, const std::string &ns = "")
-
struct UAV_command
-
struct UAV_reference
-
struct UAV_state
-
struct UAV_state
-
class UsbCameraInterface : public as2::Node
Public Functions
-
UsbCameraInterface()
Construct a new UsbCameraInterface object.
-
inline ~UsbCameraInterface()
Destroy the UsbCameraInterface object.
Private Functions
-
void setCameraParameters(const cv::Mat &_camera_matrix, const cv::Mat &_dist_coeffs)
-
void loadParameters()
-
void captureImage()
-
void setupCamera()
-
void setCameraTransform()
-
UsbCameraInterface()
-
namespace as2
Typedefs
-
using Event = as2_msgs::msg::PlatformStateMachineEvent
Event type.
-
using Rate = as2::rate::GenericRate<std::chrono::system_clock>
-
using WallRate = as2::rate::GenericRate<std::chrono::steady_clock>
Functions
Executes the main loop of the node.
- Parameters:
node – node to execute the main loop
run_function – function to be executed in the main loop. Node frequency must be higher than 0
-
using Event = as2_msgs::msg::PlatformStateMachineEvent
-
namespace control_mode
Functions
-
uint8_t convertAS2ControlModeToUint8t(const as2_msgs::msg::ControlMode &mode)
-
as2_msgs::msg::ControlMode convertUint8tToAS2ControlMode(uint8_t control_mode_uint8t)
-
constexpr uint8_t convertToUint8t(const as2_msgs::msg::ControlMode &mode)
-
constexpr uint8_t convertToUint8t(uint8_t control_mode_uint8t, uint8_t yaw_mode_uint8t, uint8_t reference_frame_uint8t)
-
inline bool compareModes(const uint8_t mode1, const uint8_t mode2, const uint8_t mask = MATCH_ALL)
-
inline bool compareModes(const as2_msgs::msg::ControlMode &mode1, const as2_msgs::msg::ControlMode &mode2, const uint8_t mask = MATCH_ALL)
-
inline bool isUnsetMode(const uint8_t control_mode_uint8t)
-
inline bool isUnsetMode(const as2_msgs::msg::ControlMode &mode)
-
inline bool isHoverMode(const uint8_t control_mode_uint8t)
-
inline bool isHoverMode(const as2_msgs::msg::ControlMode &mode)
-
void printControlMode(const as2_msgs::msg::ControlMode &mode)
-
void printControlMode(uint8_t control_mode_uint8t)
-
uint8_t convertAS2ControlModeToUint8t(const as2_msgs::msg::ControlMode &mode)
-
namespace frame
Functions
-
Eigen::Vector3d transform(const tf2::Quaternion &quaternion, const Eigen::Vector3d &vector)
Apply a quaternion rotation to a vector.
- Parameters:
quaternion – tf2::Quaternion to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transform(const float roll_angle, const float pitch_angle, const float yaw_angle, const Eigen::Vector3d &vector)
Apply a quaternion rotation to a vector.
- Parameters:
roll_angle – Roll angle to apply.
pitch_angle – Pitch angle to apply.
yaw_angle – Yaw angle to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transform(const geometry_msgs::msg::Quaternion &quaternion, const Eigen::Vector3d &vector)
Apply a quaternion rotation to a vector.
- Parameters:
quaternion – geometry_msgs::Quaternion to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transform(const Eigen::Quaterniond &quaternion, const Eigen::Vector3d &vector)
Apply a quaternion rotation to a vector.
- Parameters:
quaternion – Eigen::Quaterniond to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transformInverse(const tf2::Quaternion &quaternion, const Eigen::Vector3d &vector)
Apply a inverse quaternion rotation to a vector.
- Parameters:
quaternion – tf2::Quaternion to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transformInverse(const float roll_angle, const float pitch_angle, const float yaw_angle, const Eigen::Vector3d &vector)
Apply a inverse quaternion rotation to a vector.
- Parameters:
roll_angle – Roll angle to apply.
pitch_angle – Pitch angle to apply.
yaw_angle – Yaw angle to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transformInverse(const geometry_msgs::msg::Quaternion &quaternion, const Eigen::Vector3d &vector)
Apply a inverse quaternion rotation to a vector.
- Parameters:
quaternion – geometry_msgs::Quaternion to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
Eigen::Vector3d transformInverse(const Eigen::Quaterniond &quaternion, const Eigen::Vector3d &vector)
Apply a inverse quaternion rotation to a vector.
- Parameters:
quaternion – Eigen::Quaterniond to apply.
vector – Eigen::Vector3d Vector to rotate.
quaternion – geometry_msgs::msg::Pose with the quaternion to apply.
vector – Eigen::Vector3d Vector to rotate.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
- Returns:
- Returns:
Eigen::Vector3d Rotated vector.
-
void quaternionToEuler(const tf2::Quaternion &quaternion, double &roll, double &pitch, double &yaw)
Convert quaternion to euler angles.
- Parameters:
quaternion – tf2::Quaternion to convert.
roll – double pointer to store roll angle.
pitch – double pointer to store pitch angle.
yaw – double pointer to store yaw angle.
-
void quaternionToEuler(const geometry_msgs::msg::Quaternion &quaternion, double &roll, double &pitch, double &yaw)
Convert quaternion to euler angles.
- Parameters:
quaternion – geometry_msgs::msg::Quaternion to convert.
roll – double pointer to store roll angle.
pitch – double pointer to store pitch angle.
yaw – double pointer to store yaw angle.
-
void quaternionToEuler(const Eigen::Quaterniond &quaternion, double &roll, double &pitch, double &yaw)
Convert quaternion to euler angles.
- Parameters:
quaternion – Eigen::Quaternion to convert.
yaw – double pointer to store yaw angle.
-
void eulerToQuaternion(const double roll, const double pitch, const double yaw, tf2::Quaternion &quaternion)
Convert euler angles to quaternion.
- Parameters:
roll – double roll angle.
pitch – double pitch angle.
yaw – double yaw angle.
quaternion – tf2::Quaternion pointer to store quaternion.
-
void eulerToQuaternion(const double roll, const double pitch, const double yaw, geometry_msgs::msg::Quaternion &quaternion)
Convert euler angles to quaternion.
- Parameters:
roll – double roll angle.
pitch – double pitch angle.
yaw – double yaw angle.
quaternion – geometry_msgs::msg::Quaternion pointer to store quaternion.
-
void eulerToQuaternion(const double roll, const double pitch, const double yaw, Eigen::Quaterniond &quaternion)
Convert euler angles to quaternion.
- Parameters:
roll – double roll angle.
pitch – double pitch angle.
yaw – double yaw angle.
quaternion – Eigen::Quaterniond pointer to store quaternion.
-
double getYawFromQuaternion(const tf2::Quaternion &quaternion)
Convert quaternion to euler angles.
- Parameters:
quaternion – tf2::Quaternion to convert.
yaw – double pointer to store yaw angle.
-
double getYawFromQuaternion(const geometry_msgs::msg::Quaternion &quaternion)
Convert quaternion to euler angles.
- Parameters:
quaternion – geometry_msgs::msg::Quaternion to convert.
yaw – double pointer to store yaw angle.
- Returns:
Double yaw angle.
-
double getYawFromQuaternion(const Eigen::Quaterniond &quaternion)
Convert quaternion to euler angles.
- Parameters:
quaternion – Eigen::Quaternion to convert.
yaw – double pointer to store yaw angle.
- Returns:
Double yaw angle.
-
double getVector2DAngle(const double x, const double y)
Compute the angle between of a given vector in 2D and the unitary vector (1,0).
- Parameters:
x – double x coordinate of the vector.
y – double y coordinate of the vector.
- Returns:
Double yaw angle.
-
double wrapAngle0To2Pi(const double theta)
Wrap angle to [0, 2*pi].
- Parameters:
theta – double angle.
- Returns:
Double wrapped angle.
-
double wrapAnglePiToPi(const double theta)
Wrap angle to [-pi, pi].
- Parameters:
theta – double angle.
- Returns:
Double wrapped angle.
-
double angleMinError(const double theta1, const double theta2)
Compute the minumun angle between two angles. Maximun error is pi.
- Parameters:
theta1 – double first angle.
theta2 – double second angle.
- Returns:
Double yaw difference.
-
Eigen::Vector3d transform(const tf2::Quaternion &quaternion, const Eigen::Vector3d &vector)
-
namespace gps
Functions
-
void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
Variables
-
static const GeographicLib::Geocentric &earth = GeographicLib::Geocentric::WGS84()
-
static const char global_frame[] = "earth"
-
void Ecef2LatLon(const geometry_msgs::msg::PoseStamped &ps, geographic_msgs::msg::GeoPoseStamped &gps)
-
namespace motionReferenceHandlers
-
namespace rate
-
namespace sensors
Typedefs
-
namespace tf
Functions
-
std::string generateTfName(const std::string &_namespace, const std::string &_frame_name)
Add namespace to the name of the Transform frame id.
- Parameters:
_namespace –
_frame_name –
- Returns:
std::string namespace/frame_id
-
geometry_msgs::msg::TransformStamped getTransformation(const std::string &_frame_id, const std::string &_child_frame_id, double _translation_x, double _translation_y, double _translation_z, double _roll, double _pitch, double _yaw)
Generate a Transform message from translation and rotation in Euler angles.
- Parameters:
_frame_id –
_child_frame_id –
_translation_x –
_translation_y –
_translation_z –
_roll –
_pitch –
_yaw –
- Returns:
geometry_msgs::msg::TransformStamped
-
std::string generateTfName(const std::string &_namespace, const std::string &_frame_name)
-
namespace yaml
Functions
-
YAML::Node find_tag_across_multiple_yaml_files(const std::vector<std::filesystem::path> &yaml_files, const std::string &tag)
-
template<typename T = std::string>
std::vector<T> find_tag_in_yaml_file(const std::filesystem::path &yaml_file, const std::string &tag)
-
YAML::Node find_tag_across_multiple_yaml_files(const std::vector<std::filesystem::path> &yaml_files, const std::string &tag)
-
namespace as2_behavior
-
namespace as2_behavior_tree
-
namespace as2_motion_controller_plugin_base
-
namespace as2_names
-
namespace actions
-
namespace behaviors
Variables
-
const char takeoff[] = "TakeoffBehavior"
-
const char gotowaypoint[] = "GoToBehavior"
-
const char followreference[] = "FollowReferenceBehavior"
-
const char followpath[] = "FollowPathBehavior"
-
const char land[] = "LandBehavior"
-
const char trajectorygenerator[] = "TrajectoryGeneratorBehavior"
-
const char takeoff[] = "TakeoffBehavior"
-
namespace behavior
-
namespace controller
-
namespace gps
-
namespace motion_reference
-
namespace platform
Variables
-
const char set_arming_state[] = "set_arming_state"
-
const char set_offboard_mode[] = "set_offboard_mode"
-
const char set_platform_control_mode[] = "set_platform_control_mode"
-
const char takeoff[] = "platform_takeoff"
-
const char land[] = "platform_land"
-
const char set_platform_state_machine_event[] = "platform/state_machine_event"
-
const char list_control_modes[] = "platform/list_control_modes"
-
const char set_arming_state[] = "set_arming_state"
-
namespace topics
-
namespace actuator_command
-
namespace controller
-
namespace follow_target
-
namespace global
-
namespace ground_truth
-
namespace motion_reference
Variables
-
const char pose[] = "motion_reference/pose"
-
const char twist[] = "motion_reference/twist"
-
const char trajectory[] = "motion_reference/trajectory"
-
const char waypoints[] = "motion_reference/waypoints"
-
const char modify_waypoint[] = "motion_reference/modify_waypoint"
-
const char traj_gen_info[] = "motion_reference/traj_gen_info"
-
const char pose[] = "motion_reference/pose"
-
namespace platform
-
namespace self_localization
-
namespace sensor_measurements
Variables
-
const char base[] = "sensor_measurements/"
-
const char imu[] = "sensor_measurements/imu"
-
const char lidar[] = "sensor_measurements/lidar"
-
const char gps[] = "sensor_measurements/gps"
-
const char camera[] = "sensor_measurements/camera"
-
const char battery[] = "sensor_measurements/battery"
-
const char odom[] = "sensor_measurements/odom"
-
const char base[] = "sensor_measurements/"
-
namespace as2_platform_multirotor_simulator
-
namespace as2_state_estimator_plugin_base
-
namespace BT
Functions
-
template<>
inline Position2D convertFromString(StringView str)
-
template<>
-
namespace controller_handler
-
namespace controller_manager
-
namespace differential_flatness_controller
-
namespace follow_path_base
-
namespace follow_path_plugin_position
-
namespace follow_path_plugin_trajectory
-
namespace gazebo
-
namespace gazebo_platform
-
namespace GeographicLib
-
namespace go_to_base
-
namespace go_to_plugin_position
-
namespace go_to_plugin_trajectory
-
namespace ground_truth
-
namespace ignition
-
namespace gazebo
-
namespace land_base
-
namespace land_plugin_platform
-
namespace land_plugin_speed
-
namespace land_plugin_trajectory
-
namespace mbzirc
-
namespace mocap_pose
-
namespace pid_speed_controller
-
namespace point_gimbal_behavior
-
namespace raw_odometry
-
namespace rclcpp
-
namespace std
STL namespace.
-
namespace chrono_literals
-
namespace takeoff_base
-
namespace takeoff_plugin_platform
-
namespace takeoff_plugin_position
-
namespace takeoff_plugin_speed
-
namespace takeoff_plugin_trajectory
- file gazebo_platform.hpp
- #include <rclcpp/logging.hpp>#include <rclcpp/rclcpp.hpp>#include <std_msgs/msg/bool.hpp>#include “as2_core/aerial_platform.hpp”#include “as2_core/core_functions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/utils/control_mode_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>
Implementation of an Gazebo UAV platform.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file gazebo_platform.cpp
- #include “gazebo_platform.hpp”
Implementation of an Gazebo UAV platform.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file gazebo_platform_main.cpp
- #include “gazebo_platform.hpp”
ROS2 node for gazebo platform.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file as2_platform_multirotor_simulator.hpp
- #include <string>#include <memory>#include <vector>#include <rclcpp/rclcpp.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <sensor_msgs/msg/imu.hpp>#include <sensor_msgs/msg/nav_sat_fix.hpp>#include <nav_msgs/msg/odometry.hpp>#include “as2_core/aerial_platform.hpp”#include “as2_core/core_functions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/sensor.hpp”#include “as2_core/utils/control_mode_utils.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_core/utils/gps_utils.hpp”#include “as2_msgs/msg/control_mode.hpp”#include “as2_msgs/msg/gimbal_control.hpp”#include “multirotor_simulator.hpp”
MultirotorSimulatorPlatform class definition
- Author
Rafael Perez-Segui r.psegui@upm.es
- file as2_platform_multirotor_simulator.cpp
-
#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_core/utils/control_mode_utils.hpp”
MultirotorSimulatorPlatform class implementation
- Author
Rafael Perez-Segui r.psegui@upm.es
- file as2_platform_multirotor_simulator_node.cpp
-
#include “as2_core/core_functions.hpp”
MultirotorSimulatorPlatform node implementation
- Author
Rafael Perez-Segui r.psegui@upm.es
Functions
-
int main(int argc, char *argv[])
- file arm_service.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_service_node.hpp”#include <std_srvs/srv/set_bool.hpp>
Arm and disarm services implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file echo.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “rclcpp/rclcpp.hpp”
Echo implementation as behavior tree node. Just for testing purpouses.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path.hpp
- #include <string>#include “as2_behavior_tree/bt_action_node.hpp”#include “behaviortree_cpp_v3/action_node.h”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/follow_path.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/yaw_mode.hpp”
- file get_origin.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_service_node.hpp”#include “as2_msgs/srv/get_origin.hpp”
Get origin implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_action.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”#include “as2_behavior_tree/bt_action_node.hpp”#include “as2_behavior_tree/port_specialization.hpp”#include “geometry_msgs/msg/point_stamped.hpp”
Go to action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_gps_action.hpp
- #include <iterator>#include “behaviortree_cpp_v3/action_node.h”#include “as2_behavior_tree/bt_action_node.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”#include “as2_msgs/srv/geopath_to_path.hpp”#include “geometry_msgs/msg/point.hpp”
Go to Gps action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file gps_to_cartesian.hpp
- #include <iterator>#include “behaviortree_cpp_v3/action_node.h”#include “as2_behavior_tree/port_specialization.hpp”#include “as2_msgs/srv/geopath_to_path.hpp”#include “geometry_msgs/msg/pose.hpp”#include “nav2_behavior_tree/bt_service_node.hpp”#include “rclcpp/rclcpp.hpp”
GPS to Cartesian implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_action.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/land.hpp”#include “as2_behavior_tree/bt_action_node.hpp”
Land action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file offboard_service.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_service_node.hpp”#include <std_srvs/srv/set_bool.hpp>
Offboard service implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file send_event.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_service_node.hpp”#include “std_msgs/msg/string.hpp”
Send event implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file set_origin.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_service_node.hpp”#include “as2_msgs/srv/set_origin.hpp”
Set origin implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_action.hpp
- #include “behaviortree_cpp_v3/action_node.h”#include “as2_behavior_tree/bt_action_node.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/takeoff.hpp”#include <chrono>#include <thread>
Takeoff action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file bt_action_node.hpp
- #include <chrono>#include <memory>#include <string>#include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_conversions.hpp”#include “nav2_util/node_utils.hpp”#include “rclcpp_action/rclcpp_action.hpp”
- file bt_service_node.hpp
- #include <memory>#include <string>#include “behaviortree_cpp_v3/action_node.h”#include “nav2_behavior_tree/bt_conversions.hpp”#include “nav2_util/node_utils.hpp”#include “rclcpp/rclcpp.hpp”
- file is_flying_condition.hpp
- #include <string>#include “behaviortree_cpp_v3/condition_node.h”#include “as2_core/names/topics.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”#include “rclcpp/rclcpp.hpp”
behavior tree node to check if an aircraft is flying
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file wait_for_alert.hpp
- #include <string>#include “behaviortree_cpp_v3/decorator_node.h”#include “as2_msgs/msg/alert_event.hpp”#include “rclcpp/rclcpp.hpp”
Wait for alert implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file wait_for_event.hpp
- #include <string>#include “behaviortree_cpp_v3/decorator_node.h”#include “geometry_msgs/msg/pose.hpp”#include “rclcpp/rclcpp.hpp”#include “std_msgs/msg/string.hpp”
Wait for event implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file port_specialization.hpp
- #include “behaviortree_cpp_v3/bt_factory.h”#include “geometry_msgs/msg/point_stamped.hpp”#include “geometry_msgs/msg/pose.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “as2_msgs/msg/pose_with_id.hpp”
List of custom ports.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file arm_service.cpp
- #include “as2_behavior_tree/action/arm_service.hpp”
Arm and disarm services implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file echo.cpp
- #include “as2_behavior_tree/action/echo.hpp”
Echo implementation as behavior tree node. Just for testing purpouses.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file get_origin.cpp
- #include “as2_behavior_tree/action/get_origin.hpp”
- file go_to_action.cpp
- #include “as2_behavior_tree/action/go_to_action.hpp”
Go to action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_gps_action.cpp
-
#include “rclcpp/rclcpp.hpp”
Go to gps action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file gps_to_cartesian.cpp
- file land_action.cpp
- #include “as2_behavior_tree/action/land_action.hpp”
Land action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file offboard_service.cpp
-
Offboard service implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file send_event.cpp
- #include “as2_behavior_tree/action/send_event.hpp”
Send event implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file set_origin.cpp
- #include “as2_behavior_tree/action/set_origin.hpp”
- file takeoff_action.cpp
- #include “as2_behavior_tree/action/takeoff_action.hpp”
Takeoff action implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file is_flying_condition.cpp
-
behavior tree node to check if an aircraft is flying
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file wait_for_alert.cpp
-
Wait for alert implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Javier Melero Deza
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file wait_for_event.cpp
-
Wait for event implementation as behavior tree node.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file as2_behavior_tree_node.cpp
- #include <chrono>#include <thread>#include “behaviortree_cpp_v3/bt_factory.h”#include “as2_behavior_tree/action/arm_service.hpp”#include “as2_behavior_tree/action/echo.hpp”#include “as2_behavior_tree/action/follow_path.hpp”#include “as2_behavior_tree/action/get_origin.hpp”#include “as2_behavior_tree/action/go_to_action.hpp”#include “as2_behavior_tree/action/land_action.hpp”#include “as2_behavior_tree/action/send_event.hpp”#include “as2_behavior_tree/action/set_origin.hpp”#include “as2_behavior_tree/action/takeoff_action.hpp”#include “rclcpp/rclcpp.hpp”#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h>#include “behaviortree_cpp_v3/loggers/bt_cout_logger.h”
ROS2 entrypoint for launching a node to run a behavior tree.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file follow_path_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/follow_path.hpp”
- file go_to_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”
Go to emulator class definition.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file goto_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”
- file land_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/land.hpp”
Land emulator class definition.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file platform_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/services.hpp”
Platform emulator class definition.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_emulator.hpp
- #include “as2_core/as2_basic_behavior.hpp”#include “as2_core/names/actions.hpp”#include “as2_msgs/action/takeoff.hpp”
Takeoff emulator class definition.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_emulator.cpp
- #include “node_emulators/follow_path_emulator.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file go_to_emulator.cpp
- #include “node_emulators/go_to_emulator.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file land_emulator.cpp
- #include “node_emulators/land_emulator.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file platform_emulator.cpp
- #include “node_emulators/platform_emulator.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file takeoff_emulator.cpp
- #include “node_emulators/takeoff_emulator.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file port.cpp
- #include “behaviortree_cpp_v3/bt_factory.h”#include “behaviortree_cpp_v3/loggers/bt_cout_logger.h”
Functions
-
int main()
Variables
- static const char * xml_text = R"(<root main_tree_to_execute = "MainTree" ><BehaviorTree ID="MainTree"><Sequence name="root"><CalculateGoal goal="{GoalPosition}" /><PrintTarget target="{GoalPosition}" /><SetBlackboard output_key="OtherGoal" value="-1;3" /><PrintTargettarget="{OtherGoal}" /></Sequence></BehaviorTree></root>)"
The tree is a Sequence of 4 actions
1) Store a value of Position2D in the entry “GoalPosition” using the action CalculateGoal.
2) Call PrintTarget. The input “target” will be read from the Blackboard entry “GoalPosition”.
3) Use the built-in action SetBlackboard to write the key “OtherGoal”. A conversion from string to Position2D will be done under the hood.
4) Call PrintTarget. The input “goal” will be read from the Blackboard entry “OtherGoal”.
-
int main()
- file port_pose.cpp
- #include “as2_behavior_tree/port_specialization.hpp”#include “behaviortree_cpp_v3/bt_factory.h”#include “geometry_msgs/msg/point_stamped.hpp”#include “geometry_msgs/msg/pose.hpp”#include “behaviortree_cpp_v3/loggers/bt_cout_logger.h”
Functions
-
int main()
Variables
- static const char * xml_text = R"(<root main_tree_to_execute = "MainTree" ><BehaviorTree ID="MainTree"><Sequence name="root"><CalculateGoal goal="{GoalPosition}" /><PrintTarget target="{GoalPosition}" /><SetBlackboard output_key="OtherGoal" value="-1;-2;-3" /><PrintTargettarget="{OtherGoal}" /></Sequence></BehaviorTree></root>)"
The tree is a Sequence of 4 actions
1) Store a value of Position2D in the entry “GoalPosition” using the action CalculateGoal.
2) Call PrintTarget. The input “target” will be read from the Blackboard entry “GoalPosition”.
3) Use the built-in action SetBlackboard to write the key “OtherGoal”. A conversion from string to Position2D will be done under the hood.
4) Call PrintTarget. The input “goal” will be read from the Blackboard entry “OtherGoal”.
-
int main()
- file behavior_server__class.hpp
- #include <as2_behavior/behavior_utils.hpp>#include <as2_core/node.hpp>#include <rclcpp/rclcpp.hpp>#include <rclcpp/service.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include <rclcpp_action/server.hpp>
- file behavior_server__impl.hpp
- file as2_basic_behavior.hpp
- #include <chrono>#include <cmath>#include <memory>#include <string>#include “as2_core/aerial_platform.hpp”#include “as2_core/node.hpp”#include “as2_core/sensor.hpp”#include “as2_msgs/msg/thrust.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “geometry_msgs/msg/twist_stamped.hpp”#include “nav_msgs/msg/odometry.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include “sensor_msgs/msg/battery_state.hpp”#include “sensor_msgs/msg/imu.hpp”
Aerostack2 basic behavior virtual class header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file as2_basic_behavior.hpp
- #include <chrono>#include <cmath>#include <memory>#include <string>#include “as2_core/aerial_platform.hpp”#include “as2_core/node.hpp”#include “as2_core/sensor.hpp”#include “as2_msgs/msg/thrust.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “geometry_msgs/msg/twist_stamped.hpp”#include “nav_msgs/msg/odometry.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include “sensor_msgs/msg/battery_state.hpp”#include “sensor_msgs/msg/imu.hpp”
Aerostack2 basic behavior virtual class header file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file behavior_server.hpp
- file behavior_utils.hpp
- #include <as2_msgs/msg/behavior_status.hpp>#include <rclcpp/rclcpp.hpp>#include <std_srvs/srv/trigger.hpp>#include <string>
- file behavior_client.cpp
- #include “behavior_client.hpp”
- file behavior_server.cpp
- #include “behavior_server.hpp”
- file follow_path_base.hpp
- #include <Eigen/Dense>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/follow_path.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”
follow_path_base header file
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_behavior.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <pluginlib/class_loader.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/follow_path.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “follow_path_base.hpp”
follow_path_behavior header file
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_plugin_position.cpp
-
#include “as2_msgs/msg/yaw_mode.hpp”#include “follow_path_behavior/follow_path_base.hpp”#include “std_msgs/msg/header.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the follow path behavior position plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_plugin_trajectory.cpp
- #include <geometry_msgs/msg/point.hpp>#include <std_msgs/msg/header.hpp>#include <std_srvs/srv/trigger.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_msgs/action/generate_polynomial_trajectory.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/yaw_mode.hpp”#include “follow_path_behavior/follow_path_base.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the go to behavior trajectory plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_behavior.cpp
-
#include “rclcpp_components/register_node_macro.hpp”
follow_path_behavior file
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_path_behavior_main.cpp
- #include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file follow_reference_behavior.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/follow_reference.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”
Follow reference behavior class header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Javier Melero Deza Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_reference_behavior.cpp
-
#include “rclcpp_components/register_node_macro.hpp”
Follow reference behavior file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Javier Melero Deza Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file follow_reference_behavior_main.cpp
- #include “as2_core/core_functions.hpp”
Follow reference behavior node main file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Javier Melero Deza Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file go_to_base.hpp
- #include <Eigen/Dense>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”
Base class for go to plugins header.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_behavior.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <pluginlib/class_loader.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/go_to_waypoint.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “go_to_base.hpp”
Go to behavior class header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_plugin_position.cpp
-
#include “go_to_behavior/go_to_base.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the go to behavior position plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_plugin_trajectory.cpp
- #include <geometry_msgs/msg/point.hpp>#include <std_msgs/msg/header.hpp>#include <std_srvs/srv/trigger.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_msgs/action/generate_polynomial_trajectory.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/yaw_mode.hpp”#include “go_to_behavior/go_to_base.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the go to behavior trajectory plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_behavior.cpp
- #include “go_to_behavior/go_to_behavior.hpp”#include “rclcpp_components/register_node_macro.hpp”
Go to behavior file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file go_to_behavior_main.cpp
- #include “as2_core/core_functions.hpp”#include “go_to_behavior/go_to_behavior.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file land_base.hpp
- #include <Eigen/Dense>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/land.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”
Base class for land plugins header.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_behavior.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <pluginlib/class_loader.hpp>#include <std_srvs/srv/set_bool.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/land.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/srv/set_platform_state_machine_event.hpp”#include “land_base.hpp”#include “rclcpp/rclcpp.hpp”
Land behavior class header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_plugin_platform.cpp
- #include <chrono>#include <std_srvs/srv/set_bool.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/services.hpp”#include “land_behavior/land_base.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the land behavior platform plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_plugin_speed.cpp
- #include “as2_behavior/behavior_server.hpp”#include “land_behavior/land_base.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the land behavior speed plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_plugin_trajectory.cpp
- #include <geometry_msgs/msg/point.hpp>#include <std_msgs/msg/header.hpp>#include <std_srvs/srv/trigger.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_msgs/action/generate_polynomial_trajectory.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/yaw_mode.hpp”#include “land_behavior/land_base.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the land behavior trajectory plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_behavior.cpp
- #include “land_behavior/land_behavior.hpp”#include “rclcpp_components/register_node_macro.hpp”
land_behavior file
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file land_behavior_main.cpp
- #include “as2_core/core_functions.hpp”#include “land_behavior/land_behavior.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file takeoff_base.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/takeoff.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”
Base class for takeoff plugins.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_behavior.hpp
- #include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <pluginlib/class_loader.hpp>#include <rclcpp_action/rclcpp_action.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/takeoff.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/srv/set_platform_state_machine_event.hpp”#include “takeoff_base.hpp”
Takeoff behavior class header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_plugin_platform.cpp
- #include <chrono>#include <std_srvs/srv/set_bool.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/services.hpp”#include “takeoff_behavior/takeoff_base.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the take off behavior platform plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_plugin_position.cpp
- #include <geometry_msgs/msg/point.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/utils/frame_utils.hpp”#include “takeoff_behavior/takeoff_base.hpp”#include <pluginlib/class_list_macros.hpp>
- file takeoff_plugin_speed.cpp
- #include “as2_behavior/behavior_server.hpp”#include “takeoff_behavior/takeoff_base.hpp”#include <pluginlib/class_list_macros.hpp>
This file contains the implementation of the take off behavior speed plugin.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_plugin_trajectory.cpp
- #include <geometry_msgs/msg/point.hpp>#include <std_msgs/msg/header.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_msgs/action/generate_polynomial_trajectory.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/yaw_mode.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_action/rclcpp_action.hpp”#include “takeoff_behavior/takeoff_base.hpp”#include <pluginlib/class_list_macros.hpp>
- file takeoff_behavior.cpp
- #include “takeoff_behavior/takeoff_behavior.hpp”#include “rclcpp_components/register_node_macro.hpp”
Takeoff behavior class source file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file takeoff_behavior_main.cpp
- #include “as2_core/core_functions.hpp”#include “takeoff_behavior/takeoff_behavior.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file detect_aruco_markers_behavior.hpp
- #include <cv_bridge/cv_bridge.h>#include <tf2/LinearMath/Quaternion.h>#include <Eigen/Dense>#include <memory>#include <string>#include <vector>#include <rclcpp/rclcpp.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/sensor.hpp”#include “as2_msgs/action/detect_aruco_markers.hpp”#include “as2_msgs/msg/pose_stamped_with_id.hpp”#include “sensor_msgs/image_encodings.hpp”#include “sensor_msgs/msg/image.hpp”#include <image_transport/image_transport.hpp>#include <opencv2/aruco.hpp>#include <opencv2/calib3d.hpp>
Aruco detector header file.
- Authors
David Perez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
- file detect_aruco_markers_behavior.cpp
- #include “detect_aruco_markers_behavior.hpp”
Aruco detector implementation file.
- Authors
David Perez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
- file detect_aruco_markers_behavior_node.cpp
- #include <rclcpp/rclcpp.hpp>#include “detect_aruco_markers_behavior.hpp”
Aruco detector node file.
- Authors
David Perez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Functions
-
int main(int argc, char *argv[])
- file point_gimbal_behavior.hpp
- #include <string>#include <memory>#include <rclcpp/rclcpp.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/node.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_core/utils/frame_utils.hpp”#include <rclcpp_action/rclcpp_action.hpp>#include “as2_msgs/action/point_gimbal.hpp”#include “as2_msgs/msg/gimbal_control.hpp”#include “geometry_msgs/msg/quaternion_stamped.hpp”#include “geometry_msgs/msg/vector3.hpp”#include “geometry_msgs/msg/vector3_stamped.hpp”
Point Gimbal behavior header file.
- Authors
Pedro Arias-Perez, Rafael Perez-Segui
- Copyright
Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved
- file point_gimbal_behavior.cpp
- #include “point_gimbal_behavior.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/utils/frame_utils.hpp”
Point Gimbal behavior implementation file.
- Authors
Pedro Arias-Perez, Rafael Perez-Segui
- Copyright
Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved
- file point_gimbal_behavior_node.cpp
- #include <rclcpp/rclcpp.hpp>#include “point_gimbal_behavior.hpp”
Point Gimbal node file.
- Authors
Pedro Arias-Perez
- Copyright
Copyright (c) 2024 Universidad Politécnica de Madrid All Rights Reserved
Functions
-
int main(int argc, char *argv[])
- file set_arming_state_behavior.hpp
- #include “as2_behavior/behavior_server.hpp”#include “as2_msgs/action/set_arming_state.hpp”#include “std_srvs/srv/set_bool.hpp”
- file set_offboard_mode_behavior.hpp
- #include “as2_behavior/behavior_server.hpp”#include “as2_core/names/services.hpp”#include “as2_msgs/action/set_offboard_mode.hpp”#include “std_srvs/srv/set_bool.hpp”
- file set_arming_state_behavior_main.cpp
- #include <rclcpp/rclcpp.hpp>
Functions
-
int main(int argc, char **argv)
-
int main(int argc, char **argv)
- file set_offboard_mode_behavior_main.cpp
- #include <rclcpp/rclcpp.hpp>
Functions
-
int main(int argc, char **argv)
-
int main(int argc, char **argv)
- file generate_polynomial_trajectory_behavior.hpp
- #include <tf2/LinearMath/Quaternion.h>#include <rclcpp/clock.hpp>#include <rclcpp/rclcpp.hpp>#include <std_srvs/srv/set_bool.hpp>#include “as2_behavior/behavior_server.hpp”#include “as2_core/names/actions.hpp”#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/action/generate_polynomial_trajectory.hpp”#include “as2_msgs/srv/set_speed.hpp”#include “dynamic_trajectory_generator/dynamic_trajectory.hpp”#include “dynamic_trajectory_generator/dynamic_waypoint.hpp”#include “as2_msgs/msg/pose_stamped_with_id.hpp”#include “as2_msgs/msg/pose_with_id.hpp”#include “as2_msgs/msg/traj_gen_info.hpp”#include <Eigen/Dense>#include <geometry_msgs/msg/point.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <nav_msgs/msg/odometry.hpp>#include <nav_msgs/msg/path.hpp>#include <std_msgs/msg/float32.hpp>#include <visualization_msgs/msg/marker.hpp>
Functions
-
void generateDynamicPoint(const as2_msgs::msg::PoseWithID &msg, dynamic_traj_generator::DynamicWaypoint &dynamic_point)
Auxiliar Functions
-
void generateDynamicPoint(const as2_msgs::msg::PoseWithID &msg, dynamic_traj_generator::DynamicWaypoint &dynamic_point)
- file generate_polynomial_trajectory_behavior.cpp
- #include “generate_polynomial_trajectory_behavior.hpp”#include “rclcpp_components/register_node_macro.hpp”
Functions
-
void generateDynamicPoint(const as2_msgs::msg::PoseWithID &msg, dynamic_traj_generator::DynamicWaypoint &dynamic_point)
Auxiliar Functions
-
void generateDynamicPoint(const as2_msgs::msg::PoseWithID &msg, dynamic_traj_generator::DynamicWaypoint &dynamic_point)
- file generate_polynomial_trajectory_behavior_node.cpp
- #include “as2_core/core_functions.hpp”#include “generate_polynomial_trajectory_behavior.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file aerial_platform.hpp
- #include <chrono>#include <functional>#include <memory>#include <string>#include <vector>#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/platform_state_machine.hpp”#include “as2_msgs/msg/alert_event.hpp”#include “as2_msgs/msg/control_mode.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/platform_status.hpp”#include “as2_msgs/msg/thrust.hpp”#include “as2_msgs/msg/trajectory_point.hpp”#include “as2_msgs/srv/list_control_modes.hpp”#include “as2_msgs/srv/set_control_mode.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “geometry_msgs/msg/twist_stamped.hpp”#include “nav_msgs/msg/odometry.hpp”#include “as2_core/node.hpp”#include “rclcpp/publisher.hpp”#include “rclcpp/publisher_options.hpp”#include “rclcpp/rclcpp.hpp”#include “std_srvs/srv/set_bool.hpp”#include “utils/control_mode_utils.hpp”#include “utils/yaml_utils.hpp”
Aerostack2 Aerial Platformm class header file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file core_functions.hpp
- #include <memory>#include “as2_core/node.hpp”#include “as2_core/rate.hpp”#include “rclcpp/publisher.hpp”#include “rclcpp/publisher_options.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_lifecycle/lifecycle_node.hpp”
Aerostack2 core functions header file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file actions.hpp
- #include <rclcpp/rclcpp.hpp>
This file contains the definition of the actions that can be performed in aerostack2.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file services.hpp
- #include <rclcpp/rclcpp.hpp>
This file contains the definitions of the services used in aerostack2.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file topics.hpp
- #include <rclcpp/rclcpp.hpp>
- file node.hpp
- #include <chrono>#include <exception>#include <functional>#include <memory>#include <string>#include <utility>#include <rclcpp/create_timer.hpp>#include <rclcpp/timer.hpp>#include “as2_core/rate.hpp”#include “rclcpp/publisher.hpp”#include “rclcpp/publisher_options.hpp”#include “rclcpp/rclcpp.hpp”#include “rclcpp_lifecycle/lifecycle_node.hpp”
Aerostack2 node header file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file platform_state_machine.hpp
- #include <functional>#include <string>#include <vector>#include <memory>#include “as2_core/node.hpp”#include “as2_msgs/msg/platform_state_machine_event.hpp”#include “as2_msgs/msg/platform_status.hpp”#include “as2_msgs/srv/set_platform_state_machine_event.hpp”
Aerostack2 Platform State Machine Header file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file rate.hpp
- #include <chrono>#include <memory>#include <thread>#include “rclcpp/macros.hpp”#include “rclcpp/utilities.hpp”#include “rclcpp/visibility_control.hpp”
ROS2 rate class modified to work with the as2_core namespace and add more functionalities.
- Authors
Miguel Fernández Cortizas
- file sensor.hpp
- #include <cv_bridge/cv_bridge.h>#include <tf2_ros/static_transform_broadcaster.h>#include <tf2_ros/transform_broadcaster.h>#include <chrono>#include <functional>#include <memory>#include <string>#include <opencv2/opencv.hpp>#include <image_transport/image_transport.hpp>#include <rclcpp/publisher.hpp>#include <rclcpp/publisher_options.hpp>#include <rclcpp/rclcpp.hpp>#include <sensor_msgs/msg/battery_state.hpp>#include <sensor_msgs/msg/camera_info.hpp>#include <sensor_msgs/msg/fluid_pressure.hpp>#include <sensor_msgs/msg/image.hpp>#include <sensor_msgs/msg/imu.hpp>#include <sensor_msgs/msg/laser_scan.hpp>#include <sensor_msgs/msg/magnetic_field.hpp>#include <sensor_msgs/msg/nav_sat_fix.hpp>#include <sensor_msgs/msg/range.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <geometry_msgs/msg/quaternion_stamped.hpp>#include <nav_msgs/msg/odometry.hpp>#include “as2_core/custom/tf2_geometry_msgs.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/utils/tf_utils.hpp”
Sensor class for AS2 header file.
- Authors
Rafael Pérez Seguí David Pérez Saura Miguel Fernández Cortizas Pedro Arias Pérez
- file synchronous_service_client.hpp
- #include <memory>#include <string>#include “as2_core/node.hpp”#include “rclcpp/rclcpp.hpp”
Class for handling synchronous service clients in ROS2 without taking care about the spin() method.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez
- file control_mode_utils.hpp
- #include <yaml-cpp/yaml.h>#include <bitset>#include <filesystem>#include <fstream>#include <iostream>#include <sstream>#include <string>#include <vector>#include “as2_msgs/msg/control_mode.hpp”#include “rclcpp/logging.hpp”
Utility functions for handling control modes over the aerostack2 framework.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file frame_utils.hpp
- #include <math.h>#include <Eigen/Geometry>#include “as2_core/custom/tf2_geometry_msgs.hpp”#include <geometry_msgs/msg/quaternion.hpp>
Aerostack2 frame utils header file.
- Authors
Rafael Pérez Seguí Pedro Arias Pérez
- file gps_utils.hpp
- #include <string>#include <GeographicLib/LocalCartesian.hpp>#include “geographic_msgs/msg/geo_pose_stamped.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “sensor_msgs/msg/nav_sat_fix.hpp”
- file tf_utils.hpp
- #include <tf2/convert.h>#include <tf2/time.h>#include <tf2_ros/create_timer_ros.h>#include <string>#include <utility>#include <memory>#include <geometry_msgs/msg/point_stamped.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/transform_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <geometry_msgs/msg/vector3_stamped.hpp>#include <nav_msgs/msg/path.hpp>#include “as2_core/custom/tf2_geometry_msgs.hpp”#include “as2_core/node.hpp”#include “tf2_ros/buffer.h”#include “tf2_ros/transform_listener.h”
Tranform utilities library header file.
- Authors
David Perez Saura Miguel Fernandez Cortizas Rafael Perez Segui
Defines
-
TF_TIMEOUT
- file yaml_utils.hpp
- #include <yaml-cpp/yaml.h>#include <bitset>#include <filesystem>#include <fstream>#include <iostream>#include <sstream>#include <string>#include <vector>#include <algorithm>
- file _as2_core_pybind11.cpp
- #include <pybind11/pybind11.h>#include “as2_core/names/actions.hpp”#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”
- file aerial_platform.cpp
- #include “as2_core/aerial_platform.hpp”
Aerostack2 Aerial Platformm class implementation file.
- Authors
Miguel Fernandez Cortizas
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
- file core_functions.cpp
- #include “core_functions.hpp”
Aerostack2 core functions implementation file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
- file node.cpp
- #include “as2_core/node.hpp”
Aerostack2 node implementation file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file platform_state_machine.cpp
- #include “as2_core/platform_state_machine.hpp”
Aerostack2 Platform State Machine implementation file.
- Authors
Miguel Fernandez Cortizas
- file rate.cpp
- #include “as2_core/rate.hpp”
ROS2 rate class modified to work with the as2_core namespace and add more functionalities.
- Authors
Miguel Fernández Cortizas
- file sensor.cpp
- #include “as2_core/sensor.hpp”
Sensor class for AS2 implementation file.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file control_mode_utils.cpp
- #include “as2_core/utils/control_mode_utils.hpp”#include <rclcpp/logger.hpp>#include <rclcpp/logging.hpp>
Utility functions for handling control modes over the aerostack2 framework.
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- file frame_utils.cpp
- #include “as2_core/utils/frame_utils.hpp”
Aerostack2 frame utils functions implementation file.
- Authors
Rafael Pérez Seguí Pedro Arias Pérez
- file gps_utils.cpp
- #include “as2_core/utils/gps_utils.hpp”
- file tf_utils.cpp
- #include “as2_core/utils/tf_utils.hpp”
Tranform utilities library implementation file.
- Authors
David Perez Saura
- file yaml_utils.cpp
- #include “as2_core/utils/yaml_utils.hpp”
Utils for loading YAML files in Aerostack2 implementation.
- Authors
Miguel Fernández Cortizas
- file as2_realsense_interface.hpp
- #include <rclcpp/rclcpp.hpp>#include “as2_core/node.hpp”#include “as2_core/sensor.hpp”#include “as2_core/utils/tf_utils.hpp”#include <tf2_ros/static_transform_broadcaster.h>#include <librealsense2/rs.hpp>#include <geometry_msgs/msg/transform_stamped.hpp>#include <geometry_msgs/msg/vector3.hpp>#include “nav_msgs/msg/odometry.hpp”#include “sensor_msgs/msg/imu.hpp”
Realsense camera interface header file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
David Perez Saura
- Copyright
Copyright (c) 2021 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file as2_realsense_interface.cpp
- #include “as2_realsense_interface.hpp”
Realsense camera interface implementation file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
David Perez Saura
- Copyright
Copyright (c) 2021 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file as2_realsense_interface_node.cpp
- #include “as2_core/core_functions.hpp”#include “as2_realsense_interface.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file as2_usb_camera_interface.hpp
- #include <rclcpp/rclcpp.hpp>#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/sensor.hpp”#include <tf2/LinearMath/Quaternion.h>#include “sensor_msgs/image_encodings.hpp”#include “sensor_msgs/msg/image.hpp”#include <cv_bridge/cv_bridge.h>#include <image_transport/image_transport.hpp>#include <memory>#include <opencv2/calib3d.hpp>#include <opencv2/highgui.hpp>#include <opencv2/imgproc.hpp>#include <opencv2/opencv.hpp>#include <vector>
- file as2_usb_camera_interface.cpp
- #include “as2_usb_camera_interface.hpp”
- file as2_usb_camera_interface_node.cpp
- #include “as2_core/core_functions.hpp”#include “as2_usb_camera_interface.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file controller_base.hpp
- #include <string>#include <vector>#include <rclcpp/rclcpp.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include “as2_core/node.hpp”#include “as2_msgs/msg/control_mode.hpp”#include “as2_msgs/msg/thrust.hpp”#include “as2_msgs/msg/trajectory_point.hpp”
Declares the as2_motion_controller_plugin_base class which is the base class for all controller plugins.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file controller_handler.hpp
- #include <rcl/time.h>#include <tf2/time.h>#include <message_filters/subscriber.h>#include <message_filters/sync_policies/approximate_time.h>#include <message_filters/time_synchronizer.h>#include <memory>#include <algorithm>#include <chrono>#include <cstdint>#include <fstream>#include <vector>#include <string>#include <rclcpp/clock.hpp>#include <rclcpp/logging.hpp>#include <rclcpp/rate.hpp>#include <rclcpp/service.hpp>#include <rclcpp/timer.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/control_mode_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/msg/control_mode.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/thrust.hpp”#include “as2_msgs/msg/trajectory_point.hpp”#include “as2_msgs/srv/list_control_modes.hpp”#include “as2_msgs/srv/set_control_mode.hpp”#include “controller_base.hpp”
Controller handler class definition.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file controller_manager.hpp
- #include <memory>#include <chrono>#include <filesystem>#include <pluginlib/class_loader.hpp>#include <rclcpp/logging.hpp>#include “as2_core/node.hpp”#include “as2_core/utils/control_mode_utils.hpp”#include “as2_core/utils/yaml_utils.hpp”#include “as2_msgs/msg/controller_info.hpp”#include “controller_handler.hpp”
Controller manager class definition.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file differential_flatness_controller.hpp
- #include <Eigen/Dense>#include <Eigen/Geometry>#include <vector>#include <string>#include <rclcpp/logging.hpp>#include <rclcpp/rclcpp.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/msg/thrust.hpp”#include “as2_msgs/msg/trajectory_point.hpp”#include “as2_motion_controller/controller_base.hpp”
Declares the controller plugin differential flatness.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file differential_flatness_controller.cpp
- #include “differential_flatness_controller.hpp”#include <pluginlib/class_list_macros.hpp>
Differential flatness controller plugin for the Aerostack framework.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file pid_speed_controller.hpp
- #include <chrono>#include <string>#include <vector>#include <memory>#include <rclcpp/logging.hpp>#include <rclcpp/rclcpp.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include “as2_core/utils/control_mode_utils.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “as2_msgs/msg/thrust.hpp”#include “as2_msgs/msg/trajectory_point.hpp”#include “as2_motion_controller/controller_base.hpp”#include “pid_controller/pid.hpp”#include “pid_controller/pid_1d.hpp”
- file pid_speed_controller.cpp
- #include “pid_speed_controller.hpp”#include <pluginlib/class_list_macros.hpp>
- file controller_handler.cpp
- #include “as2_motion_controller/controller_handler.hpp”#include <as2_core/utils/tf_utils.hpp>
Controller handler class implementation.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file controller_manager.cpp
- #include “as2_motion_controller/controller_manager.hpp”
Controller manager class implementation.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
- file controller_manager_node.cpp
- #include “as2_core/core_functions.hpp”#include “as2_motion_controller/controller_manager.hpp”
Controller manager node main file.
- Authors
Miguel Fernández Cortizas Rafael Pérez Seguí
Functions
-
int main(int argc, char *argv[])
- file basic_motion_references.hpp
- #include <as2_msgs/msg/control_mode.hpp>#include <as2_msgs/msg/controller_info.hpp>#include <functional>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <memory>#include <string>#include <thread>#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/synchronous_service_client.hpp”#include “as2_core/utils/control_mode_utils.hpp”#include “as2_msgs/msg/trajectory_point.hpp”#include “as2_msgs/srv/set_control_mode.hpp”#include “rclcpp/rclcpp.hpp”
Virtual class for basic motion references headers.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file hover_motion.hpp
- #include <functional>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <memory>#include <thread>#include “as2_core/node.hpp”#include “basic_motion_references.hpp”
This file contains the definition of the HoverMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file position_motion.hpp
- #include <as2_core/utils/tf_utils.hpp>#include <functional>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <memory>#include <thread>#include “as2_core/node.hpp”#include “basic_motion_references.hpp”
This file contains the definition of the SpeedMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file speed_in_a_plane_motion.hpp
- #include <as2_core/utils/tf_utils.hpp>#include <functional>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <memory>#include <thread>#include “as2_core/node.hpp”#include “basic_motion_references.hpp”
This file contains the definition of the SpeedInAPlaneMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file speed_motion.hpp
- #include <as2_core/utils/tf_utils.hpp>#include <functional>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <memory>#include <thread>#include “as2_core/node.hpp”#include “basic_motion_references.hpp”
This file contains the definition of the SpeedMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file trajectory_motion.hpp
- #include <Eigen/Dense>#include “as2_core/node.hpp”#include “basic_motion_references.hpp”
this file contains the implementation of the TrajectoryMotion class
this file contains the definition of the TrajectoryMotion class
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file basic_motion_references.cpp
-
Virtual class for basic motion references implementations.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file hover_motion.cpp
-
This file contains the implementation of the HoverMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file position_motion.cpp
-
This file contains the implementation of the take off behavior position plugin.
This file contains the implementation of the PositionMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Rafael Pérez Seguí Pedro Arias Pérez Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file speed_in_a_plane_motion.cpp
-
This file contains the implementation of the SpeedInAPlaneMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file speed_motion.cpp
-
This file contains the implementation of the SpeedMotion class.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas Pedro Arias Pérez David Pérez Saura Rafael Pérez Seguí
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file trajectory_motion.cpp
- file SuctionGripper.cc
- #include <gz/plugin/Register.hh>#include <gz/transport/Node.hh>#include <gz/msgs/contacts.pb.h>#include <gz/msgs.hh>#include <gz/gazebo/components.hh>#include <gz/gazebo/Model.hh>#include “SuctionGripper.hh”
- file SuctionGripper.hh
- #include <memory>#include <gz/gazebo/System.hh>
- file azimuth_bridge.cpp
- #include <iostream>#include <memory>#include <string>#include <math.h>#include “rclcpp/publisher.hpp”#include “rclcpp/rclcpp.hpp”#include <as2_core/names/topics.hpp>#include <gz/msgs.hh>#include <gz/transport.hh>#include <ros_gz_bridge/convert.hpp>#include <std_msgs/msg/float32.hpp>
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file gimbal_bridge.cpp
- #include <iostream>#include <memory>#include <string>#include <math.h>#include <as2_core/names/topics.hpp>#include <as2_core/utils/frame_utils.hpp>#include <gz/msgs.hh>#include <gz/transport.hh>#include <rclcpp/clock.hpp>#include <ros_gz_bridge/convert.hpp>#include “as2_msgs/msg/gimbal_control.hpp”#include “rclcpp/publisher.hpp”#include “rclcpp/rclcpp.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file gps_bridge.cpp
- #include <iostream>#include <memory>#include <string>#include <as2_core/names/topics.hpp>#include <gz/msgs.hh>#include <gz/transport.hh>#include <ros_gz_bridge/convert.hpp>#include “rclcpp/rclcpp.hpp”#include “sensor_msgs/msg/nav_sat_fix.hpp”
Ignition bridge gps implementation file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Rafael Pérez Seguí Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file ground_truth_bridge.cpp
- #include <iostream>#include <memory>#include <string>#include “rclcpp/publisher.hpp”#include “rclcpp/rclcpp.hpp”#include <as2_core/names/topics.hpp>#include “geometry_msgs/msg/pose_stamped.hpp”#include “geometry_msgs/msg/twist_stamped.hpp”#include <gz/msgs.hh>#include <gz/transport.hh>#include <ros_gz_bridge/convert.hpp>
Ignition bridge ground truth implementation file.
Gazebo bridge ground truth implementation file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Javier Melero Deza Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Pedro Arias Pérez Rafael Pérez Seguí Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file object_tf_broadcaster.cpp
- #include <geometry_msgs/msg/transform_stamped.hpp>#include <geometry_msgs/msg/transform_stamped.h>#include <tf2_msgs/msg/tf_message.h>#include <tf2_ros/static_transform_broadcaster.h>#include <tf2_ros/transform_broadcaster.h>#include <gz/msgs.hh>#include <gz/transport.hh>#include <rclcpp/clock.hpp>#include <rclcpp/rclcpp.hpp>#include <ros_gz_bridge/convert.hpp>#include <iostream>#include <memory>#include <string>
Ignition bridge tf broadcaster implementation file.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Javier Melero Deza Pedro Arias Pérez Rafael Pérez Seguí Miguel Fernández Cortizas David Pérez Saura
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Functions
-
int main(int argc, char *argv[])
- file plugin_base.hpp
- #include <tf2_ros/buffer.h>#include <tf2_ros/buffer_interface.h>#include <tf2_ros/static_transform_broadcaster.h>#include <tf2_ros/transform_broadcaster.h>#include <as2_core/node.hpp>#include <as2_core/utils/tf_utils.hpp>#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <nav_msgs/msg/odometry.hpp>#include <rclcpp/rclcpp.hpp>#include <rclcpp/subscription_base.hpp>#include <as2_core/names/topics.hpp>
An state estimation plugin base for AeroStack2.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file state_estimator.hpp
- #include <tf2_ros/buffer.h>#include <tf2_ros/static_transform_broadcaster.h>#include <tf2_ros/transform_broadcaster.h>#include <tf2_ros/transform_listener.h>#include <filesystem>#include <pluginlib/class_loader.hpp>#include “plugin_base.hpp”#include <geometry_msgs/msg/pose_stamped.hpp>#include <geometry_msgs/msg/twist_stamped.hpp>#include <rclcpp/rclcpp.hpp>#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_core/utils/frame_utils.hpp”#include “as2_core/utils/tf_utils.hpp”#include “nav_msgs/msg/odometry.hpp”
An state estimation server for AeroStack2.
An state estimation implementation for AeroStack2.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file ground_truth.hpp
- #include <as2_core/names/services.hpp>#include <as2_core/utils/gps_utils.hpp>#include <as2_core/utils/tf_utils.hpp>#include <as2_msgs/srv/get_origin.hpp>#include <as2_msgs/srv/set_origin.hpp>#include <as2_state_estimator/plugin_base.hpp>#include <geographic_msgs/msg/geo_point.hpp>#include <regex>
An state estimation plugin ground truth for AeroStack2.
An state estimation plugin ground truth implementation for AeroStack2.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file ground_truth.cpp
- #include “ground_truth.hpp”#include <pluginlib/class_list_macros.hpp>
- file mocap_pose.hpp
- #include <tf2/LinearMath/Quaternion.h>#include <tf2/LinearMath/Vector3.h>#include <as2_state_estimator/plugin_base.hpp>#include <mocap4r2_msgs/msg/rigid_bodies.hpp>#include <rclcpp/duration.hpp>
An state estimation plugin mocap_pose for AeroStack2.
An state estimation plugin mocap_pose implementation for AeroStack2.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file mocap_pose.cpp
- #include “mocap_pose.hpp”#include <pluginlib/class_list_macros.hpp>
- file raw_odometry.hpp
- #include <as2_core/names/services.hpp>#include <as2_core/utils/gps_utils.hpp>#include <as2_msgs/srv/get_origin.hpp>#include <as2_msgs/srv/set_origin.hpp>#include <as2_state_estimator/plugin_base.hpp>#include <geographic_msgs/msg/geo_point.hpp>#include “geometry_msgs/msg/transform_stamped.hpp”
An state estimation plugin external odom for AeroStack2.
An state estimation plugin external odom implementation for AeroStack2.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Authors
Miguel Fernández Cortizas David Pérez Saura Rafael Pérez Seguí Pedro Arias Pérez
- Copyright
Copyright (c) 2022 Universidad Politécnica de Madrid All Rights Reserved
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- file raw_odometry.cpp
- #include “raw_odometry.hpp”#include <pluginlib/class_list_macros.hpp>
- file state_estimator.cpp
- #include <as2_state_estimator/state_estimator.hpp>
- file state_estimator_node.cpp
- #include <rclcpp/executors.hpp>#include <rclcpp/rclcpp.hpp>#include “as2_state_estimator/state_estimator.hpp”
Functions
-
int main(int argc, char **argv)
-
int main(int argc, char **argv)
- file alphanumeric_viewer.hpp
- #include <curses.h>#include <math.h>#include <stdio.h>#include <tf2/utils.h>#include <iostream>#include <sstream>#include <string>#include <rclcpp/rclcpp.hpp>#include “as2_core/names/actions.hpp”#include “as2_core/names/services.hpp”#include “as2_core/names/topics.hpp”#include “as2_core/node.hpp”#include “as2_msgs/msg/controller_info.hpp”#include “as2_msgs/msg/platform_info.hpp”#include “as2_msgs/msg/thrust.hpp”#include “geometry_msgs/msg/pose_stamped.hpp”#include “geometry_msgs/msg/twist_stamped.hpp”#include “sensor_msgs/msg/battery_state.hpp”#include “sensor_msgs/msg/imu.hpp”#include “sensor_msgs/msg/nav_sat_fix.hpp”#include “sensor_msgs/msg/temperature.hpp”
- file alphanumeric_viewer.cpp
- #include “alphanumeric_viewer.hpp”
Typedefs
-
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
- file alphanumeric_viewer_node.cpp
- #include “alphanumeric_viewer.hpp”#include “as2_core/core_functions.hpp”
Functions
-
int main(int argc, char *argv[])
-
int main(int argc, char *argv[])
- file README.md
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- page index
-
Aerostack2
Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.
Currently is currently developed and tested over ROS 2 humble (over Ubuntu 22.04)
Versions below 1.0.9 were also developed and tested over ROS 2 galactic (over Ubuntu 20.04), can be found in the branch
EOL/galactic.We also have docker images with Aerostack2 preinstalled in ROS 2 Humble, check it out at Aerostack2 Dockerhub.
Most important features:
Natively developed on ROS 2
Complete modularity, allowing elements to be changed or interchanged without affecting the rest of the system
Independence of the aerial platform. Easy Sim2Real deployment.
Project-oriented, allowing to install and use only the necessary packages for the application to be developed.
Swarming orientation.
Please visit the [Aerostack2 Documentation] for a complete documentation.
Installation instructions can be found [here].
Credits
If you use the code in the academic context, please cite:
M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, “Aerostack2: A software framework for developing multi-robot aerial systems”, ArXiv DOI 2303.18237.