ModeExecutor< ActionT > Class Template Reference

Generic template class for executing a PX4 mode implementing the interface of a standard ROS 2 action. More...

#include <auto_apms_px4/mode_executor.hpp>

Inheritance diagram for ModeExecutor< ActionT >:

Private Member Functions
bool	onGoalRequest (std::shared_ptr< const Goal > goal_ptr) override final
	Callback for handling an incoming action goal request.
bool	onCancelRequest (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr) override final
	Callback for handling an incoming cancel request.
auto_apms_util::ActionStatus	cancelGoal (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr) override final
	Callback that executes work asynchronously when the goal is cancelling.
auto_apms_util::ActionStatus	executeGoal (std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Feedback > feedback_ptr, std::shared_ptr< Result > result_ptr) override final
	Callback that executes work asynchronously when the goal is executing.

Additional Inherited Members
Public Member Functions inherited from ActionWrapper< ActionT >
	ActionWrapper (const std::string &action_name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr)
	Constructor.
	ActionWrapper (const std::string &action_name, rclcpp::Node::SharedPtr node_ptr)
	Constructor.
	ActionWrapper (const std::string &action_name, const rclcpp::NodeOptions &options)
	Constructor.

Detailed Description

template<class ActionT>
class auto_apms_px4::ModeExecutor< ActionT >

Generic template class for executing a PX4 mode implementing the interface of a standard ROS 2 action.

The modes to be executed must be registered with the PX4 autopilot server before any action goals are sent. By default, only the standard PX4 modes may be executed, but the user may also implement custom modes using ModeBase. Refer to ModeExecutorFactory if you want to set up a ROS 2 node for executing your custom modes.

Usage

To register a ROS 2 node component that is able to execute for example the land mode when requested, the corresponding executor is implemented as follows:

#include "auto_apms_interfaces/action/takeoff.hpp"
#include "auto_apms_px4/mode_executor.hpp"
 
namespace my_namespace
{
class MyTakeoffModeExecutor : public auto_apms_px4::ModeExecutor<auto_apms_interfaces::action::Takeoff>
{
public:
  explicit MyTakeoffModeExecutor(const rclcpp::NodeOptions & options)
  : ModeExecutor("my_executor_name", options, FlightMode::Takeoff)
  {
  }
 
  bool sendActivationCommand(const VehicleCommandClient & client,
                             std::shared_ptr<const Goal> goal_ptr) override final
  {
    return client.takeoff(goal_ptr->altitude_amsl_m, goal_ptr->heading_rad);
  }
}
}  // namespace my_namespace
 
// Register the ROS 2 node component
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(my_namespace::MyTakeoffModeExecutor)

Note

The package auto_apms_px4 comes with ROS 2 node components for the most common standard modes and they work out of the box.

Template Parameters

ActionT

Type of the ROS 2 action.

Definition at line 84 of file mode_executor.hpp.

Member Function Documentation

onGoalRequest()

template<class ActionT>

bool onGoalRequest ( std::shared_ptr< const Goal > goal_ptr )

finaloverrideprivatevirtual

Callback for handling an incoming action goal request.

Implementation specific callbacks

By default, all goals are accepted.

Parameters

goal_ptr

Goal request.

Returns

true for accepting the request and false for rejecting it.

Reimplemented from ActionWrapper< ActionT >.

Definition at line 265 of file mode_executor.hpp.

onCancelRequest()

template<class ActionT>

bool onCancelRequest ( std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr )

finaloverrideprivatevirtual

Callback for handling an incoming cancel request.

By default, cancelling a goal is always accepted.

Parameters

goal_ptr	Original goal of the action to be canceled.
result_ptr	Shared action result to be modified.

Returns

true for accepting the request and false for rejecting it.

Reimplemented from ActionWrapper< ActionT >.

Definition at line 275 of file mode_executor.hpp.

cancelGoal()

template<class ActionT>

auto_apms_util::ActionStatus cancelGoal ( std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Result > result_ptr )

finaloverrideprivatevirtual

Callback that executes work asynchronously when the goal is cancelling.

By default, this callback does nothing.

You must return ActionStatus::RUNNING, if this callback's work is not done yet and it should be invoked again. Otherwise, return ActionStatus::SUCCESS or ActionStatus::FAILURE to cancel respectively abort the goal.

Parameters

goal_ptr	Original goal of the action that is being canceled.
result_ptr	Shared action result to be modified.

Returns

Status of the cancellation routine.

Reimplemented from ActionWrapper< ActionT >.

Definition at line 289 of file mode_executor.hpp.

executeGoal()

template<class ActionT>

auto_apms_util::ActionStatus executeGoal ( std::shared_ptr< const Goal > goal_ptr, std::shared_ptr< Feedback > feedback_ptr, std::shared_ptr< Result > result_ptr )

finaloverrideprivatevirtual

Callback that executes work asynchronously when the goal is executing.

You must return ActionStatus::RUNNING, if this callback's work is not done yet and it should be invoked again. Otherwise, return ActionStatus::SUCCESS or ActionStatus::FAILURE to succeed respectively abort the goal.

Parameters

goal_ptr	Original goal of the action that is being executed.
feedback_ptr	Shared action feedback that is published according to the configured feedback rate.
result_ptr	Shared action result to be modified.

Returns

Status of the execution routine.

Implements ActionWrapper< ActionT >.

Definition at line 308 of file mode_executor.hpp.

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The documentation for this class was generated from the following file:

• auto_apms_px4/include/auto_apms_px4/mode_executor.hpp