Package Summary

Tags No category tags.
Version 1.1.3
License BSD-3-Clause
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/aerostack2/aerostack2.git
VCS Type git
VCS Version main
Last Updated 2025-07-23
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

AeroStack2 drone interface tool in python

Additional Links

No additional links.

Maintainers

  • CVAR-UPM

Authors

No additional authors.

as2_python_api

AeroStack2 python interface.

Index


API

Method Input Output Description  
str = get_drone_id() - drone namespace -  
{ bool, bool, bool, STATE, YAW_MODE, CONTROL_MODE, REFERENCE_FRAME } = get_info() - drone info {connected, armed, offboard, state, yaw_mode, control_mode, reference_frame} -  
[ float, float, float ] = get_position() - [ x, y, z ] -  
[ float, float, float ] = get orientation() - [ roll, pitch, yaw ] -  
[ float, float, float ] = get_gps_pose() - [ lat, lon ,alt ]    
takeoff(float, float) heigth, speed - -  
follow_path([ [ float, float, float ], ... ], float) [ [ x, y, z ], … ], speed - -  
follow_gps_path([ [ float, float, float ], ... ], float) [ [ lat, lon, alt ], … ], speed - -  
land() - - -  
<!– go_to() - - –>

ENUMERATIONS

STATE

Value Field Name Description
EMERGENCY -1 -
DISARMED 0 -
LANDED 1 -
TAKING_OFF 2 -
FLYING 3 -
LANDING 4 -

YAW_MODE

Value Field Name Description
YAW_ANGLE 0 -
YAW_SPEED 1 -

CONTROL_MODE

Value Field Name Description
UNSET -1 mode when the vehicle is not set
POSITION_MODE 0 x, y, z refs
SPEED_MODE 1 vx, vy, vz refs
SPEED_IN_A_PLANE 2 vx, vy, z refs
ACCEL_MODE 3 ax, ay, az refs
ATTITUDE_MODE 4 quaternions + Thrust
ACRO_MODE 5 p, q, r speed + Thrust

REFERENCE_FRAME

Value Field Name Description
LOCAL_ENU_FRAME 0 Local coordinates
BODY_FLU_FRAME 1 Body coordinates
GLOBAL_ENU_FRAME 2 GPS coordinates
CHANGELOG

Changelog for package as2_python_api

1.1.3 (2025-07-23)

  • [as2_python_api] Mission interpreter mission modification
  • [as2_python_api] Using goal in behavior handler modify service
  • [as2_behaviors_swarm_flocking] New behavior
  • [as2_python_api] Mission Interpreter improvements using multiples missions ids
  • [as2_behaviors_trajectory_generation] Generate partial trajectory and new yaw to face the next refernce
  • [as2_behaviors_trajectory_generation] Enable trajectory generation goal in differents frames_id
  • [as2_python_api] fixed python3.8 non friendly typings
  • [as2_python_api] Rename trajectory generation behavior and class name
  • [as2_python_api] Fix follow path and traj generation behaviors get path checkers
  • [as2_python_api] New trajectory generation module
  • [as2_python_api] Choose executor from DroneInterfaceBase constructor
  • [as2_python_api] New MissionStack methods
  • Contributors: Carmen De Rojas, Guillermo García Patiño, Javier Melero, Rafael Pérez, pariaspe

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

  • [as2_python_api] License fix using ament copyright
  • Contributors: Rafael Perez-Segui, pariaspe

1.1.0 (2024-08-08)

  • [as2_python_api] Deactivating drone interface tests
  • [as2_python_api] Rename tests folder name
  • [as2_python_api] Ament_lint compliance
  • [as2_python_api] Return bool service response when using ServiceBoolHandler (arm, offboard and manual)
  • [as2_python_api] Fix using spin rate as a rate and not as an time interval
  • [as2_python_api] Added class argument spin rate
  • [as2_python_api] New navigate to behavior and module
  • [as2_python_api] Behavior Status updated after call methods correctly
  • [as2_python_api] ament lint auto compliance
  • [as2_python_api] Add goal accepted/rejected return when call behavior method
  • [as2_python_api] Continue using Pydantic V1
  • Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe

1.0.9 (2024-03-25)

  • added try except in deserialize method
  • Added feedback to rtl module
  • Add init files to missing subpkgs
  • New RTL module
  • Point Gimbal behavior client
  • Add topic namespace with argument in mission interpreter
  • Contributors: Javier Melero, Javilinos, Miguel Fernandez-Cortizas, Rafael Perez-Segui, Rafael Pérez, cvar-developers, pariaspe

1.0.8 (2024-02-12)

  • [as2_python_api] Jenkins test fail: searching for module first at modules folder and hook as2_modules_path fix
  • Contributors: pariaspe

1.0.7 (2024-02-04)

  • Moving test files to test folder
  • Contributors: Javilinos, Miguel Fernandez-Cortizas, pariaspe

1.0.6 (2023-12-12)

  • Specifying subdirectories in setup.py
  • Takeoff and GoTo behavior renaming
  • Contributors: Miguel Fernandez-Cortizas, pariaspe

1.0.5 (2023-11-08)

  • Load modules from project path for mission interpreter
  • Improve MissionUpdate message
  • Contributors: Javilinos, RPS98, Rafael Pérez, pariaspe

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

  • Merge pull request #310 from aerostack2/executor_fixes Some Mission Control fixes
  • Merge pull request #309 from aerostack2/mop_channel [as2_platform_dji_osdk] Mop channel communication
  • Multiple commits

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Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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