as2_python_api.modules package
Submodules
as2_python_api.modules.dummy_module module
Dummy Module for testing purpouses.
This module is a dummy module that does nothing but print the arguments it receives.
- class as2_python_api.modules.dummy_module.DummyModule(drone: DroneInterface)[source]
Bases:
ModuleBase
Dummy Module.
as2_python_api.modules.follow_path_gps_module module
Follow Path GPS Module.
- class as2_python_api.modules.follow_path_gps_module.FollowPathGpsModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,FollowPathBehavior
Follow Path GPS Module.
as2_python_api.modules.follow_path_module module
Follow Path module.
- class as2_python_api.modules.follow_path_module.FollowPathModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,FollowPathBehavior
Follow Path Module.
- follow_path_with_keep_yaw(path: Path, speed: float, frame_id: str = 'earth') bool [source]
Follow path. With keep yaw mode. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- follow_path_with_path_facing(path: Path, speed: float, frame_id: str = 'earth') bool [source]
Follow path. With path facing yaw mode. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- follow_path_with_yaw(path: Path, speed: float, angle: float, frame_id: str = 'earth') bool [source]
Follow path. With desired yaw angle. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
yaw_angle (float) – yaw angle (rad) when fixed yaw is set
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
as2_python_api.modules.follow_reference_module module
Follow reference module.
- class as2_python_api.modules.follow_reference_module.FollowReferenceModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,FollowReferenceBehavior
Follow reference Module.
- follow_reference(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float) bool [source]
Follow reference. With keep yaw. Non-blocking call.
- Parameters:
x (float) – x position relative to the frame_id
y (float) – y position relative to the frame_id
z (float) – z position relative to the frame_id
frame_id (str) – frame_id of the reference
speed_x (float) – speed limit
speed_y (float) – speed limit
speed_z (float) – speed limit
- follow_reference_with_reference_facing(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float) bool [source]
Follow reference. With reference facing yaw mode. Non-blocking call.
- Parameters:
x (float) – x position relative to the frame_id
y (float) – y position relative to the frame_id
z (float) – z position relative to the frame_id
frame_id (str) – frame_id of the reference
speed_x (float) – speed limit
speed_y (float) – speed limit
speed_z (float) – speed limit
- follow_reference_with_yaw(x: float, y: float, z: float, frame_id: str, speed_x: float, speed_y: float, speed_z: float, angle: float) bool [source]
Follow reference. With desired yaw angle. Non-blocking call.
- Parameters:
x (float) – x position relative to the frame_id
y (float) – y position relative to the frame_id
z (float) – z position relative to the frame_id
frame_id (str) – frame_id of the reference
speed_x (float) – speed limit
speed_y (float) – speed limit
speed_z (float) – speed limit
yaw_angle (float) – yaw angle (rad)
as2_python_api.modules.go_to_gps_module module
Go to GPS Module.
- class as2_python_api.modules.go_to_gps_module.GoToGpsModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,GoToBehavior
Go to GPS Module.
- go_to_gps(lat: float, lon: float, alt: float, speed: float) bool [source]
Go to GPS point. Blocking call.
- Parameters:
lat (float) – latitude (deg) of the point
lon (float) – longitude (deg) of the point
alt (float) – altitude (m) of the point
speed (float) – speed (m/s) to go to the point
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_gps_path_facing(lat: float, lon: float, alt: float, speed: float) bool [source]
Go to GPS point. With desired path facing. Blocking call.
- Parameters:
lat (float) – latitude (deg) of the point
lon (float) – longitude (deg) of the point
alt (float) – altitude (m) of the point
speed (float) – speed (m/s) to go to the point
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_gps_point(waypoint: list[float], speed: float) bool [source]
Go to GPS point. Blocking call.
- Parameters:
point (list[float]) – GPS point [lat, lon, alt]
speed (float) – speed (m/s) to go to the point
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_gps_point_path_facing(waypoint: list[float], speed: float) bool [source]
Go to GPS point. With desired path facing. Blocking call.
- Parameters:
point (list[float]) – GPS point [lat, lon, alt]
speed (float) – speed (m/s) to go to the point
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_gps_point_with_yaw(waypoint: list[float], speed: float, angle: float) bool [source]
Go to GPS point. With desired yaw angle. Blocking call.
- Parameters:
point (list[float]) – GPS point [lat, lon, alt]
speed (float) – speed (m/s) to go to the point
yaw_angle (float) – go to desired yaw angle (rad)
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_gps_with_yaw(lat: float, lon: float, alt: float, speed: float, angle: float) bool [source]
Go to GPS point. With desired yaw angle. Blocking call.
- Parameters:
lat (float) – latitude (deg) of the point
lon (float) – longitude (deg) of the point
alt (float) – altitude (m) of the point
speed (float) – speed (m/s) to go to the point
yaw_angle (float) – go to desired yaw angle (rad)
- Returns:
True if was accepted, False otherwise
- Return type:
bool
as2_python_api.modules.go_to_module module
Go to Module.
- class as2_python_api.modules.go_to_module.GoToModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,GoToBehavior
Go to Module.
- go_to(x: float, y: float, z: float, speed: float, frame_id: str = 'earth') bool [source]
Go to point, blocking call.
- Parameters:
x (float) – x coordinate (m) to go to
y (float) – y coordinate (m) to go to
z (float) – z coordinate (m) to go to
speed (float) – speed (m/s) to go to the point
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_path_facing(x: float, y: float, z: float, speed: float, frame_id: str = 'earth') bool [source]
Go to point. With path facing yaw mode. Blocking call.
- Parameters:
x (float) – x coordinate (m) to go to
y (float) – y coordinate (m) to go to
z (float) – z coordinate (m) to go to
speed (float) – speed (m/s) to go to the point
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_point(point: list[float], speed: float, frame_id: str = 'earth') bool [source]
Go to point. With keep yaw mode. Blocking call.
- Parameters:
point (list[float]) – [x, y, z] (m) coordinates to go to
speed (float) – speed (m/s) to go to the point
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_point_path_facing(point: list[float], speed: float, frame_id: str = 'earth') bool [source]
Go to point. With path facing yaw mode. Blocking call.
- Parameters:
point (list[float]) – [x, y, z] (m) coordinates to go to
speed (float) – speed (m/s) to go to the point
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_point_with_yaw(point: list[float], speed: float, angle: float, frame_id: str = 'earth') bool [source]
Go to point. With desired yaw angle (degrees). Blocking call.
- Parameters:
point (list[float]) – [x, y, z] (m) coordinates to go to
speed (float) – speed (m/s) to go to the point
yaw_angle (float) – yaw angle
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- go_to_with_yaw(x: float, y: float, z: float, speed: float, angle: float, frame_id: str = 'earth') bool [source]
Go to point. With desired yaw angle (degrees). Blocking call.
- Parameters:
x (float) – x coordinate (m) to go to
y (float) – y coordinate (m) to go to
z (float) – z coordinate (m) to go to
speed (float) – speed (m/s) to go to the point
yaw_angle (float) – yaw angle
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
as2_python_api.modules.gps_module module
GPS module.
- class as2_python_api.modules.gps_module.GpsModule(drone: DroneInterface)[source]
Bases:
ModuleBase
GPS module.
- property origin: list[float]
Get Origin GPS position (lat, lon, alt) in deg and m. None if not set.
- Return type:
list[float]
- property pose: list[float]
Get GPS position (lat, lon, alt) in deg and m.
- Return type:
list[float]
as2_python_api.modules.land_module module
Land module.
- class as2_python_api.modules.land_module.LandModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,LandBehavior
Land Module.
as2_python_api.modules.module_base module
Module Base.
- class as2_python_api.modules.module_base.ModuleBase(drone: DroneInterface, alias: str)[source]
Bases:
object
Module Base.
- classmethod get_plan_item(method_name: Callable | None = None, *args, **kwargs) MissionItem [source]
Get a MissionItem from a method call.
- Parameters:
method_name (Callable, optional) – Method to be called. Defaults to “cls.__call__”.
- Returns:
MissionItem with the method call
- Return type:
as2_python_api.modules.motion_reference_handler_module module
Motion Reference Handler module.
- class as2_python_api.modules.motion_reference_handler_module.MotionReferenceHandlerModule(drone: DroneInterface)[source]
Bases:
ModuleBase
Motion Reference Handlers module.
as2_python_api.modules.point_gimbal_module module
Point Gimbal Module.
- class as2_python_api.modules.point_gimbal_module.PointGimbalModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,PointGimbalBehavior
Point Gimbal Module.
- point_gimbal(x: float, y: float, z: float, frame_id: str) bool [source]
Point Gimbal to reference, blocking call.
- Parameters:
x (float) – x coordinate (m) to point gimbal to
y (float) – y coordinate (m) to point gimbal to
z (float) – z coordinate (m) to point gimbal to
frame_id (str) – reference frame of the coordinates
- Returns:
True if was accepted, False otherwise
- Return type:
bool
as2_python_api.modules.rtl_module module
RTL Module.
- class as2_python_api.modules.rtl_module.RTLModule(drone: DroneInterface)[source]
Bases:
ModuleBase
Return To Launch Module.
- property feedback
Behavior feedback.
- Returns:
rclpy.Feedback
as2_python_api.modules.takeoff_module module
Takeoff Module.
- class as2_python_api.modules.takeoff_module.TakeoffModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,TakeoffBehavior
Takeoff module.
as2_python_api.modules.trajectory_generation_module module
Trajectory Generation module.
- class as2_python_api.modules.trajectory_generation_module.TrajectoryGenerationModule(drone: DroneInterface)[source]
Bases:
ModuleBase
,TrajectoryGenerationBehavior
Trajectory Generation Module.
- traj_generation_with_face_reference(path: Path, speed: float, frame_id: str = 'earth') bool [source]
Trajectory generation. With path facing yaw mode. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- traj_generation_with_keep_yaw(path: Path, speed: float, frame_id: str = 'earth') bool [source]
Trajectory generation. With keep yaw mode. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- traj_generation_with_path_facing(path: Path, speed: float, frame_id: str = 'earth') bool [source]
Trajectory generation. With path facing yaw mode. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool
- traj_generation_with_yaw(path: Path, speed: float, angle: float, frame_id: str = 'earth') bool [source]
Trajectory generation. With desired yaw angle. Blocking call.
- Parameters:
path (Path) – path to follow
speed (float) – speed (m/s) limit
yaw_angle (float) – yaw angle (rad) when fixed yaw is set
frame_id (str, optional) – reference frame of the coordinates, defaults to “earth”
- Returns:
True if was accepted, False otherwise
- Return type:
bool