as2_python_api package

Subpackages

• as2_python_api.behavior_actions package
  • Submodules
  • as2_python_api.behavior_actions.behavior_handler module
    • BehaviorHandler
      • BehaviorHandler.BehaviorNotAvailable
      • BehaviorHandler.GoalRejected
      • BehaviorHandler.ResultUnknown
      • BehaviorHandler.TIMEOUT
      • BehaviorHandler.destroy()
      • BehaviorHandler.feedback
      • BehaviorHandler.is_running()
      • BehaviorHandler.modify()
      • BehaviorHandler.pause()
      • BehaviorHandler.result
      • BehaviorHandler.result_status
      • BehaviorHandler.resume()
      • BehaviorHandler.start()
      • BehaviorHandler.status
      • BehaviorHandler.stop()
      • BehaviorHandler.wait_to_result()
  • as2_python_api.behavior_actions.follow_reference_behavior module
    • FollowReferenceBehavior
      • FollowReferenceBehavior.modify()
      • FollowReferenceBehavior.start()
  • as2_python_api.behavior_actions.followpath_behavior module
    • FollowPathBehavior
      • FollowPathBehavior.modify()
      • FollowPathBehavior.start()
  • as2_python_api.behavior_actions.go_to_behavior module
    • GoToBehavior
      • GoToBehavior.modify()
      • GoToBehavior.start()
  • as2_python_api.behavior_actions.land_behavior module
    • LandBehavior
      • LandBehavior.modify()
      • LandBehavior.start()
  • as2_python_api.behavior_actions.navigate_to_behavior module
    • NavigateToBehavior
      • NavigateToBehavior.modify()
      • NavigateToBehavior.start()
  • as2_python_api.behavior_actions.point_gimbal_behavior module
    • PointGimbalBehavior
      • PointGimbalBehavior.modify()
      • PointGimbalBehavior.start()
  • as2_python_api.behavior_actions.takeoff_behavior module
    • TakeoffBehavior
      • TakeoffBehavior.modify()
      • TakeoffBehavior.start()
  • as2_python_api.behavior_actions.trajectory_generation_behavior module
    • TrajectoryGenerationBehavior
      • TrajectoryGenerationBehavior.modify()
      • TrajectoryGenerationBehavior.start()
  • Module contents
• as2_python_api.behavior_manager package
  • Submodules
  • as2_python_api.behavior_manager.behavior_manager module
    • DroneBehaviorManager
      • DroneBehaviorManager.drone_behavior_func()
      • DroneBehaviorManager.get_behavior_status()
      • DroneBehaviorManager.pause_all_behaviors()
      • DroneBehaviorManager.pause_behaviors()
      • DroneBehaviorManager.resume_all_behaviors()
      • DroneBehaviorManager.resume_behaviors()
      • DroneBehaviorManager.stop_all_behaviors()
      • DroneBehaviorManager.stop_behaviors()
    • SwarmBehaviorManager
      • SwarmBehaviorManager.get_behaviors_status()
      • SwarmBehaviorManager.pause_all_behaviors()
      • SwarmBehaviorManager.pause_behaviors()
      • SwarmBehaviorManager.resume_all_behaviors()
      • SwarmBehaviorManager.resume_behaviors()
      • SwarmBehaviorManager.stop_all_behaviors()
      • SwarmBehaviorManager.stop_behaviors()
      • SwarmBehaviorManager.swarm_all_behavior_func()
      • SwarmBehaviorManager.swarm_behavior_func()
    • ThreadWithReturnValue
      • ThreadWithReturnValue.join()
      • ThreadWithReturnValue.run()
  • Module contents
• as2_python_api.mission_interpreter package
  • Submodules
  • as2_python_api.mission_interpreter.mission module
    • InterpreterState
    • InterpreterStatus
      • InterpreterStatus.current_item
      • InterpreterStatus.done_items
      • InterpreterStatus.feedback_current
      • InterpreterStatus.pending_items
      • InterpreterStatus.total_items
    • Mission
      • Mission.plan
      • Mission.stack
      • Mission.target
    • MissionItem
      • MissionItem.args
      • MissionItem.args_extended
      • MissionItem.behavior
      • MissionItem.method
  • as2_python_api.mission_interpreter.mission_interpreter module
    • MissionInterpreter
      • MissionInterpreter.append_mission()
      • MissionInterpreter.drone
      • MissionInterpreter.feedback
      • MissionInterpreter.feedback_dict
      • MissionInterpreter.insert_mission()
      • MissionInterpreter.load_mission()
      • MissionInterpreter.load_modules()
      • MissionInterpreter.mission
      • MissionInterpreter.mission_stack
      • MissionInterpreter.modify_current()
      • MissionInterpreter.next_item()
      • MissionInterpreter.pause_mission()
      • MissionInterpreter.reset()
      • MissionInterpreter.resume_mission()
      • MissionInterpreter.shutdown()
      • MissionInterpreter.start_mission()
      • MissionInterpreter.status
      • MissionInterpreter.stop_mission()
    • test()
  • as2_python_api.mission_interpreter.mission_stack module
    • MissionStack
      • MissionStack.add()
      • MissionStack.current
      • MissionStack.done
      • MissionStack.insert()
      • MissionStack.last_done
      • MissionStack.next_item()
      • MissionStack.pending
      • MissionStack.previous_item()
  • as2_python_api.mission_interpreter.ros2_adapter module
    • Adapter
      • Adapter.execute_callback()
      • Adapter.mission_update_callback()
      • Adapter.start_callback()
      • Adapter.status_timer_callback()
    • main()
  • Module contents
• as2_python_api.modules package
  • Submodules
  • as2_python_api.modules.dummy_module module
    • DummyModule
      • DummyModule.destroy()
      • DummyModule.stop()
  • as2_python_api.modules.follow_path_gps_module module
    • FollowPathGpsModule
  • as2_python_api.modules.follow_path_module module
    • FollowPathModule
      • FollowPathModule.follow_path_with_keep_yaw()
      • FollowPathModule.follow_path_with_path_facing()
      • FollowPathModule.follow_path_with_yaw()
  • as2_python_api.modules.follow_reference_module module
    • FollowReferenceModule
      • FollowReferenceModule.follow_reference()
      • FollowReferenceModule.follow_reference_with_reference_facing()
      • FollowReferenceModule.follow_reference_with_yaw()
  • as2_python_api.modules.go_to_gps_module module
    • GoToGpsModule
      • GoToGpsModule.go_to_gps()
      • GoToGpsModule.go_to_gps_path_facing()
      • GoToGpsModule.go_to_gps_point()
      • GoToGpsModule.go_to_gps_point_path_facing()
      • GoToGpsModule.go_to_gps_point_with_yaw()
      • GoToGpsModule.go_to_gps_with_yaw()
  • as2_python_api.modules.go_to_module module
    • GoToModule
      • GoToModule.go_to()
      • GoToModule.go_to_path_facing()
      • GoToModule.go_to_point()
      • GoToModule.go_to_point_path_facing()
      • GoToModule.go_to_point_with_yaw()
      • GoToModule.go_to_with_yaw()
  • as2_python_api.modules.gps_module module
    • GpsModule
      • GpsModule.destroy()
      • GpsModule.origin
      • GpsModule.pose
      • GpsModule.set_origin()
  • as2_python_api.modules.land_module module
    • LandModule
  • as2_python_api.modules.module_base module
    • ModuleBase
      • ModuleBase.get_plan_item()
  • as2_python_api.modules.motion_reference_handler_module module
    • MotionReferenceHandlerModule
      • MotionReferenceHandlerModule.destroy()
      • MotionReferenceHandlerModule.hover()
  • as2_python_api.modules.navigate_to_module module
    • NavigateToModule
      • NavigateToModule.navigate_to()
      • NavigateToModule.navigate_to_path_facing()
      • NavigateToModule.navigate_to_point()
      • NavigateToModule.navigate_to_point_path_facing()
      • NavigateToModule.navigate_to_point_with_yaw()
      • NavigateToModule.navigate_to_with_yaw()
  • as2_python_api.modules.point_gimbal_module module
    • PointGimbalModule
      • PointGimbalModule.point_gimbal()
  • as2_python_api.modules.rtl_module module
    • RTLModule
      • RTLModule.destroy()
      • RTLModule.feedback
  • as2_python_api.modules.takeoff_module module
    • TakeoffModule
  • as2_python_api.modules.trajectory_generation_module module
    • TrajectoryGenerationModule
      • TrajectoryGenerationModule.traj_generation_with_face_reference()
      • TrajectoryGenerationModule.traj_generation_with_keep_yaw()
      • TrajectoryGenerationModule.traj_generation_with_path_facing()
      • TrajectoryGenerationModule.traj_generation_with_yaw()
  • Module contents
• as2_python_api.service_clients package
  • Submodules
  • as2_python_api.service_clients.arming module
    • Arm
    • Disarm
  • as2_python_api.service_clients.offboard module
    • Manual
    • Offboard
  • as2_python_api.service_clients.service_handler module
    • ServiceBoolHandler
      • ServiceBoolHandler.TIMEOUT
    • ServiceHandler
      • ServiceHandler.TIMEOUT
  • Module contents
• as2_python_api.shared_data package
  • Submodules
  • as2_python_api.shared_data.gps_data module
    • GpsData
      • GpsData.fix
    • lock_decor()
  • as2_python_api.shared_data.orientation_data module
    • OrientationData
      • OrientationData.orientation
    • lock_decor()
  • as2_python_api.shared_data.platform_info_data module
    • PlatformInfoData
      • PlatformInfoData.data
    • lock_decor()
  • as2_python_api.shared_data.pose_data module
    • PoseData
      • PoseData.orientation
      • PoseData.position
  • as2_python_api.shared_data.position_data module
    • PositionData
      • PositionData.position
    • lock_decor()
  • as2_python_api.shared_data.twist_data module
    • TwistData
      • TwistData.twist
    • lock_decor()
  • Module contents
• as2_python_api.tools package
  • Submodules
  • as2_python_api.tools.utils module
    • euler_from_quaternion()
    • find_spec_in_envvar()
    • find_spec_in_pkg()
    • get_class_from_module()
    • get_module_call_signature()
    • path_to_list()
  • Module contents

Submodules

as2_python_api.drone_interface module

Drone interface to easily command drones with Aerostack2.

class as2_python_api.drone_interface.DroneInterface(drone_id: str = 'drone0', verbose: bool = False, use_sim_time: bool = False, spin_rate: float = 20.0)

Bases: DroneInterfaceBase

Drone interface node.

as2_python_api.drone_interface_base module

Python interface base.

class as2_python_api.drone_interface_base.DroneInterfaceBase(drone_id: str = 'drone0', verbose: bool = False, use_sim_time: bool = False, spin_rate: float = 20.0, executor: ~rclpy.executors.Executor = <class 'rclpy.executors.SingleThreadedExecutor'>)

Bases: Node

Drone interface base node.

arm() → bool

Arm drone.

disarm() → bool

Disarm drone.

property drone_id: str

Get drone id (namespace).

Return type:

str

property info: dict[str, bool | str]

Get drone info.

Return type:

dict[str, Union[bool, str]]

load_module(pkg: str) → None

Load module on drone.

manual() → bool

Disable offboard mode.

offboard() → bool

Enable offboard mode.

property orientation: list[float]

Get drone orientation [roll, pitch, yaw] in rad.

Return type:

list[float]

property position: list[float]

Get drone position [x, y, z] in m.

Return type:

list[float]

send_emergency_hover() → None

Set controller to hover mode. You will have to take the control manually.

send_emergency_hover_to_aircraft() → None

Call platform hover.

BE CAREFUL, you will have to take it control manually!

send_emergency_killswitch_to_aircraft() → None

Call platform stop.

BE CAREFUL, motors will stop!

send_emergency_land() → None

Emergency landing.

send_emergency_land_to_aircraft() → None

Call platform emergency land.

shutdown() → None

Shutdown properly.

property speed: list[float]

Get drone speed [vx, vy, vz] in m/s.

Return type:

list[float]

as2_python_api.drone_interface_gps module

Drone interface GPS to easily command drones with Aerostack2.

class as2_python_api.drone_interface_gps.DroneInterfaceGPS(drone_id: str = 'drone0', verbose: bool = False, use_sim_time: bool = False, spin_rate: float = 20.0)

Bases: DroneInterfaceBase

Drone interface node.

as2_python_api.drone_interface_teleop module

Drone interface with motion handlers to teleoperate.

class as2_python_api.drone_interface_teleop.DroneInterfaceTeleop(drone_id: str = 'drone0', verbose: bool = False, use_sim_time: bool = False, spin_rate: float = 20.0)

Bases: DroneInterface

Drone interface for teleoperation.

Module contents