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as2_python_api package from aerostack2 repo

aerostack2 as2_platform_gazebo as2_platform_multirotor_simulator as2_behavior_tree as2_behavior as2_behaviors_motion as2_behaviors_path_planning as2_behaviors_perception as2_behaviors_platform as2_behaviors_trajectory_generation as2_cli as2_core as2_realsense_interface as2_usb_camera_interface as2_map_server as2_motion_controller as2_motion_reference_handlers as2_msgs as2_python_api as2_gazebo_assets as2_state_estimator as2_alphanumeric_viewer as2_keyboard_teleoperation as2_rviz_plugins as2_visualization as2_external_object_to_tf as2_geozones

API Docs
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Package Summary

Tags No category tags.
Version 1.1.2
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 2024-08-26
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

AeroStack2 drone interface tool in python

Additional Links

No additional links.

Maintainers

  • CVAR-UPM

Authors

No additional authors.
as2_python_api/README.md

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

1.1.2 (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 P

Wiki Tutorials

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