Source code for as2_python_api.behavior_actions.followpath_behavior

"""FollowPath Behavior."""

# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'

from typing import TYPE_CHECKING, Union

from as2_msgs.action import FollowPath
from as2_msgs.msg import PoseWithID, YawMode
from geographic_msgs.msg import GeoPath
from geometry_msgs.msg import Pose
from nav_msgs.msg import Path
from pymap3d import geodetic2enu

from .behavior_handler import BehaviorHandler
from ..tools.utils import path_to_list

if TYPE_CHECKING:
    from ..drone_interface_base import DroneInterfaceBase


[docs] class FollowPathBehavior(BehaviorHandler): """FollowPath Behavior.""" def __init__(self, drone: 'DroneInterfaceBase') -> None: self.__drone = drone try: super().__init__(drone, FollowPath, 'FollowPathBehavior') except self.BehaviorNotAvailable as err: self.__drone.get_logger().warn(str(err))
[docs] def start(self, path: Union[list, tuple, Path, GeoPath, PoseWithID], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) -> bool: """Start behavior.""" goal_msg = FollowPath.Goal() goal_msg.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.header.frame_id = frame_id goal_msg.path = self.__get_path(path) yaw_msg = YawMode() yaw_msg.angle = yaw_angle yaw_msg.mode = yaw_mode goal_msg.yaw = yaw_msg goal_msg.max_speed = speed try: return super().start(goal_msg, wait_result) except self.GoalRejected as err: self.__drone.get_logger().warn(str(err)) return False
[docs] def modify(self, path: Union[list, tuple, Path, GeoPath, PoseWithID], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'): """Modify behavior.""" goal_msg = FollowPath.Goal() goal_msg.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.header.frame_id = frame_id goal_msg.path = self.__get_path(path) yaw_msg = YawMode() yaw_msg.angle = yaw_angle yaw_msg.mode = yaw_mode goal_msg.yaw = yaw_msg goal_msg.max_speed = speed return super().modify(goal_msg)
def __get_path(self, path: Union[list, tuple, Path, GeoPath, PoseWithID]): """Get trajectory msg.""" point_list = [] if isinstance(path, list): if len(path) > 0 and isinstance(path[0], PoseWithID): return path elif not path: # not empty raise self.GoalRejected('Goal format invalid') if isinstance(path[0], list): point_list = path else: point_list = [path] elif isinstance(path, tuple): point_list = [list(path)] elif isinstance(path, Path): point_list = path_to_list(path) elif isinstance(path, GeoPath): point_list = [] lat0, lon0, h0 = self.__drone.gps.origin for pose in path.poses: x, y, z = geodetic2enu(pose.pose.position.latitude, pose.pose.position.longitude, pose.pose.position.altitude, lat0, lon0, h0) # CAUTION: using height from origin point_list.append([x, y, pose.pose.position.altitude]) elif isinstance(path, PoseWithID): return [path] else: raise self.GoalRejected('Goal format invalid') pose_with_id_list = [] id_ = 0 for waypoint in point_list: pose_with_id = PoseWithID() pose_with_id.pose = Pose() pose_with_id.id = str(id_) pose_with_id.pose.position.x = float(waypoint[0]) pose_with_id.pose.position.y = float(waypoint[1]) pose_with_id.pose.position.z = float(waypoint[2]) pose_with_id_list.append(pose_with_id) id_ += 1 return pose_with_id_list