as2_python_api.behavior_actions package

Submodules

as2_python_api.behavior_actions.behavior_handler module

Behavior handler. Abstract class to handle behaviors.

class as2_python_api.behavior_actions.behavior_handler.BehaviorHandler(node: Node, action_msg, behavior_name)

Bases: ABC

Behavior handler.

exception BehaviorNotAvailable

Bases: Exception

Behavior not available exception.

exception GoalRejected

Bases: Exception

Goal rejected exception.

exception ResultUnknown

Bases: Exception

Result unknown exception.

TIMEOUT = 1

destroy() → None

Clean exit.

property feedback

Behavior feedback.

Returns:

rclpy.Feedback

is_running() → bool

Check if behavior is running.

Returns:

running or not

modify(goal_msg)

pause() → bool

Pause current behavior.

Returns:

pause succeed or not

Return type:

bool

property result

Behavior result.

Raises:

self.ResultUnknown – on result not ready

Returns:

rclpy.Result

property result_status

Behavior result status.

Returns:

rclpy.GoalStatus

resume(wait_result: bool = True) → bool

Continue with current behavior.

Parameters:

wait_result (bool, optional) – wait to behavior end, defaults to True

Returns:

resume succeed or not

Return type:

bool

start(goal_msg, wait_result: bool = True) → bool

Start behavior.

Parameters:

• goal_msg (Goal) – behavior goal

• wait_result (bool, optional) – wait to behavior end, defaults to True

Raises:

self.GoalRejected – on goal rejection

Returns:

succeeded or not

Return type:

bool

property status: int

Behavior internal status.

Returns:

IDLE, PAUSED, RUNNING

Return type:

int

stop() → bool

Stop current behavior.

Returns:

stop succeed or not

Return type:

bool

wait_to_result() → bool

Wait to inner action to finish.

Raises:

GoalFailed – When behavior result not succeeded

Returns:

succeeded or not

Return type:

bool

as2_python_api.behavior_actions.follow_reference_behavior module

FollowReference Behavior.

class as2_python_api.behavior_actions.follow_reference_behavior.FollowReferenceBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

FollowReference Behavior.

modify(pose: tuple[Pose, PoseStamped], frame_id: str, speed_x: float, speed_y: float, speed_z: float, yaw_mode: int, yaw_angle: float)

Modify FollowReference behavior.

start(pose: tuple[Pose, PoseStamped], frame_id: str, speed_x: float, speed_y: float, speed_z: float, yaw_mode: int, yaw_angle: float, wait_result: bool = False) → bool

Start FollowReference behavior.

as2_python_api.behavior_actions.followpath_behavior module

FollowPath Behavior.

class as2_python_api.behavior_actions.followpath_behavior.FollowPathBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

FollowPath Behavior.

modify(path: list | tuple | Path | geographic_msgs.msg.GeoPath | as2_msgs.msg.PoseWithID, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth')

Modify behavior.

start(path: list | tuple | Path | geographic_msgs.msg.GeoPath | as2_msgs.msg.PoseWithID, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) → bool

Start behavior.

as2_python_api.behavior_actions.go_to_behavior module

Go To Behavior.

class as2_python_api.behavior_actions.go_to_behavior.GoToBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

GoTo Behavior.

modify(pose: tuple[Pose, PoseStamped, geographic_msgs.msg.GeoPose, geographic_msgs.msg.GeoPoseStamped], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth')

Modify behavior.

start(pose: tuple[Pose, PoseStamped, geographic_msgs.msg.GeoPose, geographic_msgs.msg.GeoPoseStamped], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) → bool

Start behavior.

as2_python_api.behavior_actions.land_behavior module

Land Behavior.

class as2_python_api.behavior_actions.land_behavior.LandBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

Land Behavior.

modify(speed: float)

Modify landing.

start(speed: float, wait_result: bool = True) → bool

Start landing.

as2_python_api.behavior_actions.navigate_to_behavior module

Navigate To Behavior.

class as2_python_api.behavior_actions.navigate_to_behavior.NavigateToBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

Navigate To Behavior class.

modify(pose: Pose | PoseStamped, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth')

start(pose: Pose | PoseStamped, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) → bool

Start behavior.

Parameters:

• goal_msg (Goal) – behavior goal

• wait_result (bool, optional) – wait to behavior end, defaults to True

Raises:

self.GoalRejected – on goal rejection

Returns:

succeeded or not

Return type:

bool

as2_python_api.behavior_actions.point_gimbal_behavior module

PointGimbal Behavior.

class as2_python_api.behavior_actions.point_gimbal_behavior.PointGimbalBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

PointGimbal Behavior.

modify(pose: tuple[Pose, PoseStamped], frame_id: str)

Modify behavior.

start(pose: tuple[Pose, PoseStamped], frame_id: str, wait_result: bool = False) → bool

Start behavior.

as2_python_api.behavior_actions.takeoff_behavior module

Takeoff Behavior.

class as2_python_api.behavior_actions.takeoff_behavior.TakeoffBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

Takeoff Behavior.

modify(height: float, speed: float) → bool

Modify behavior.

start(height: float, speed: float, wait_result: bool = True) → bool

Start behavior.

as2_python_api.behavior_actions.trajectory_generation_behavior module

Trajectory Generation Behavior.

class as2_python_api.behavior_actions.trajectory_generation_behavior.TrajectoryGenerationBehavior(drone: DroneInterfaceBase)

Bases: BehaviorHandler

Trajectory Generation Behavior.

modify(path: list | tuple | Path | as2_msgs.msg.PoseWithID | as2_msgs.msg.PoseStampedWithID, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth')

Modify behavior.

start(path: list | tuple | Path | as2_msgs.msg.PoseWithID | as2_msgs.msg.PoseStampedWithID, speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) → bool

Start behavior.

Module contents