PX4 Integration

Methods for using PX4 Autopilot together with AutoAPMS. More...

Namespaces
namespace	auto_apms_px4
	Implementation of PX4 mode peers offered by px4_ros2_cpp enabling integration with AutoAPMS.

Classes
struct	BehaviorSpec
	Which behavior to run and how to build it. More...
class	BehaviorOwnedMode
	Registration placeholder PX4 mode owned by a BehaviorModeExecutor. More...
class	BehaviorModeExecutor
	PX4 mode executor that runs an AutoAPMS behavior in-process when put in charge by the FMU. More...
class	BehaviorModeExecutorNode
	ROS 2 component that hosts a BehaviorModeExecutor and its owned mode on an in-process behavior tree executor node. More...
class	ActionDrivenMode< ActionT >
	Generic template class for a custom PX4 mode. More...
class	ModeProxyAction< ActionT >
	Generic template class for executing a PX4 mode implementing the interface of a standard ROS 2 action. More...
class	ModeProxyActionFactory< ActionT, ModeT >
	Helper template class that creates a ModeProxyAction for a custom PX4 mode implemented by inheriting from ActionDrivenMode. More...
class	ModeRegistrationHandler
	Handles the registration of a PX4 mode with the FMU and announces its dynamically assigned nav_state. More...
class	ModeRegistrationFactory< ModeT >
	Composable ROS 2 component that registers a custom PX4 mode and announces its dynamically assigned nav_state. More...
class	SendVehicleCommand
	Generic behavior tree node that publishes a PX4 VehicleCommand and waits for its acknowledgement. More...
class	VehicleCommandClient
	Client for sending requests to the PX4 autopilot using the VehicleCommand topic. More...
class	SendCmdDoReposition
	Behavior tree node that commands the vehicle to reposition to a global WGS84 location. More...
class	SendCmdSetNavState
	Behavior tree node that switches the active PX4 flight mode while respecting mode-executor ownership. More...
class	CheckArmingState
	Condition node that succeeds once the vehicle's arming state matches the expected one. More...
class	CheckModeCompleted
	Condition node that succeeds once the mode with the expected nav_state reports successful completion. More...
class	CheckNavState
	Condition node that succeeds once the vehicle's active PX4 navigation state matches the expected one. More...
class	GetModeNavState
	Resolves a PX4 mode's name to its nav_state (mode id). More...

Detailed Description

Methods for using PX4 Autopilot together with AutoAPMS.

We allow controlling autonomous sytems running PX4 by incorporating the PX4/ROS2 Control Interface. The user is able to define custom modes that can be dynamically registered with the autopilot. These modes are written in ROS 2 and communicate with PX4 using the internal uORB messages.

Note

The required packages are hosted in a separate repository thus not part of standard AutoAPMS. Visit auto-apms-px4 for more info.