AS2_behavior library

Aerostack2 uses Behaviors to handle mission execution

Each behavior is separated in a behavior Server and a behavior client. They are similar to rclcpp actions but with some differences.

• Each behavior server only attends to a single goal (client) at each moment.
• Feedback is visible for all nodes
• They extend start, stop, and feedback with modify, pause, resume, and behavior state data.

We use ros2 services for:

• start
• modify (the same syntax than start)
• pause (std_srvs::srv::Empty)
• resume (std_srvs::srv::Empty)
• stop (std_srvs::srv::Empty)

We use ros2 topics for:

• Feedback
• State

We take advantage of ros2 action message definitions:

• Goal: will be used in start and modify services
• Feedback: Will be used in feedback
• Response: (Maybe in state, or in inmediate behaviors)

We difference between Inmediate, Recurrent and Regular (or goal oriented) behaviors:

• Inmediate: act like a service, they dont give Fb and cannot be paused or modified.
• Recurrent: they give feedback until they are stopped or paused.
• Goal Oriented: they keep runing until a termination condition is met.

Changelog for package as2_behavior

1.1.3 (2025-07-23)

• [as2_behavior] Fix modify implementation on behaviors
• [as2_behavior] Add run_frequency param for setting behaviors run timer frequency
• Contributors: Rafael Pérez, pariaspe

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

1.1.0 (2024-08-08)

• [as2_behavior] ament format, passing all tests
• Contributors: Javilinos, Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe

1.0.9 (2024-03-25)

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

1.0.6 (2023-12-12)

• Takeoff and GoTo behavior renaming
• Behavior composable nodes
• Contributors: Miguel Fernandez-Cortizas, pariaspe

1.0.5 (2023-11-08)

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

1.0.1 (2023-04-25)

• Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
• Maintainer unified to CVAR-UPM
• Merge pull request #212 from aerostack2/211-nodes-should-use-aerostack2-node-create-timer-method-not-create-wall-timer Nodes use Aerostack2 Node Create Timer method, not create wall timer
• Change create wall timer to as2 create timer
• Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
• Update basic_server_test.cpp
• Clang format
• Change behaviour to behavior
• Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe

1.0.0 (2023-03-18)

0.2.2 (2022-12-20)

0.2.1 (2022-12-19)

• Merge pull request #18 from aerostack2/fix_tests Fix tests
• as2_behavior reformatted
• excution typo in as2_behavior resolved
• Merge pull request #4 from aerostack2/as2_behaviors Change as2 behaviors
• Change as2 behaviors
• as2_behavior stop_srv addded and stop bug fixed
• px4 extended and ci actions
• aerostack2 pkg added
• Contributors: Miguel, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97