grvc::ual::BackendMavros Class Reference

Inheritance diagram for grvc::ual::BackendMavros:

Collaboration diagram for grvc::ual::BackendMavros:

Public Member Functions
bool	isReady () const override
	Backend is initialized and ready to run tasks?
virtual Pose	pose () override
	Latest pose estimation of the robot.
virtual Velocity	velocity () const override
	Latest velocity estimation of the robot.
virtual Odometry	odometry () const override
	Latest odometry estimation of the robot.
virtual Transform	transform () const override
	Latest transform estimation of the robot.
void	setPose (const geometry_msgs::PoseStamped &_pose) override
void	goToWaypoint (const Waypoint &_wp) override
void	goToWaypointGeo (const WaypointGeo &_wp)
void	takeOff (double _height) override
	Follow a list of waypoints, one after another. More...
void	land () override
	Land on the current position.
void	setVelocity (const Velocity &_vel) override
void	recoverFromManual () override
void	setHome (bool set_z) override
	Set home position.
Public Member Functions inherited from grvc::ual::Backend
template<typename Callable , typename... Args>
bool	threadSafeCall (Callable &&_fn, Args &&..._args)
	Wrap a Backend function to make it thread-safe.
	Backend ()
	Constructor inits node.
bool	isIdle ()
	Is it idle?
State	state ()
	Current robot state.
void	abort (bool _freeze=true)
	Cancel execution of the current task.

Additional Inherited Members
Public Types inherited from grvc::ual::Backend
enum	State {   UNINITIALIZED, LANDED_DISARMED, LANDED_ARMED, TAKING_OFF,   FLYING_AUTO, FLYING_MANUAL, LANDING }
	Possible backend states.
Static Public Member Functions inherited from grvc::ual::Backend
static Backend *	createBackend ()
	Create an adequate Backend depending on current platform and command arguments. More...
Protected Attributes inherited from grvc::ual::Backend
std::atomic< bool >	abort_ = {false}
std::atomic< bool >	freeze_ = {false}
std::mutex	running_mutex_
std::atomic< bool >	running_task_ = {false}
std::thread	spin_thread_
std::atomic< State >	state_ = {UNINITIALIZED}

Member Function Documentation

void grvc::ual::BackendMavros::goToWaypoint ( const Waypoint &  _wp )

overridevirtual

Go to the specified waypoint, following a straight line

Parameters

_wp	goal waypoint

Implements grvc::ual::Backend.

void grvc::ual::BackendMavros::goToWaypointGeo ( const WaypointGeo &  _wp )

virtual

Go to the specified waypoint in geographic coordinates, following a straight line

Parameters

_wp	goal waypoint in geographic coordinates

Implements grvc::ual::Backend.

void grvc::ual::BackendMavros::recoverFromManual ( )

overridevirtual

Recover from manual flight mode Use it when FLYING uav is switched to manual mode and want to go BACK to auto.

Implements grvc::ual::Backend.

void grvc::ual::BackendMavros::setPose ( const geometry_msgs::PoseStamped &  _pose )

overridevirtual

Set pose

Parameters

_pose

target pose

Implements grvc::ual::Backend.

void grvc::ual::BackendMavros::setVelocity ( const Velocity &  _vel )

overridevirtual

Set velocities

Parameters

_vel	target velocity in world coordinates

Implements grvc::ual::Backend.

void grvc::ual::BackendMavros::takeOff ( double  _height )

overridevirtual

Follow a list of waypoints, one after another.

Perform a take off maneuver

Parameters

_height

target height that must be reached to consider the take off complete

Implements grvc::ual::Backend.

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

• include/uav_abstraction_layer/backend_mavros.h