Source code for as2_python_api.behavior_actions.go_to_behavior

"""Go To Behavior."""

from __future__ import annotations

# 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'

import typing

from as2_msgs.action import GoToWaypoint
from as2_python_api.behavior_actions.behavior_handler import BehaviorHandler
from geographic_msgs.msg import GeoPose, GeoPoseStamped
from geometry_msgs.msg import Pose, PoseStamped
from pymap3d import geodetic2enu

if typing.TYPE_CHECKING:
    from ..drone_interface_base import DroneInterfaceBase


[docs] class GoToBehavior(BehaviorHandler): """GoTo Behavior.""" def __init__(self, drone: 'DroneInterfaceBase') -> None: self.__drone = drone try: super().__init__(drone, GoToWaypoint, 'GoToBehavior') except self.BehaviorNotAvailable as err: self.__drone.get_logger().warn(str(err))
[docs] def start(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth', wait_result: bool = True) -> bool: """Start behavior.""" goal_msg = GoToWaypoint.Goal() pose_stamped = self.__get_pose(pose) goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.target_pose.header.frame_id = frame_id goal_msg.target_pose.point.x = pose_stamped.position.x goal_msg.target_pose.point.y = pose_stamped.position.y goal_msg.target_pose.point.z = pose_stamped.position.z goal_msg.max_speed = speed goal_msg.yaw.mode = yaw_mode if yaw_angle: goal_msg.yaw.angle = yaw_angle 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, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'): """Modify behavior.""" goal_msg = GoToWaypoint.Goal() pose_stamped = self.__get_pose(pose) goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg() goal_msg.target_pose.header.frame_id = frame_id goal_msg.target_pose.point.x = pose_stamped.position.x goal_msg.target_pose.point.y = pose_stamped.position.y goal_msg.target_pose.point.z = pose_stamped.position.z goal_msg.max_speed = speed goal_msg.yaw.mode = yaw_mode if yaw_angle: goal_msg.yaw.angle = yaw_angle return super().modify(goal_msg)
def __get_pose(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped]): """Get pose msg.""" if isinstance(pose, Pose): return pose if isinstance(pose, PoseStamped): return pose.pose if isinstance(pose, GeoPose): geopose = GeoPoseStamped() # TODO: frame id and stamp geopose.pose = pose return self.__get_pose(geopose) if isinstance(pose, GeoPoseStamped): lat0, lon0, h0 = self.__drone.gps.origin x, y, z = geodetic2enu(pose.pose.position.latitude, pose.pose.position.longitude, pose.pose.position.altitude, lat0, lon0, h0) mypose = Pose() mypose.position.x = float(x) mypose.position.y = float(y) # CAUTION: using height from origin mypose.position.z = float(pose.pose.position.altitude) return mypose raise self.GoalRejected('Goal format invalid')