px4_ros2::MissionExecutor Class Reference

Mission execution state machine. More...

#include <px4_ros2/mission/mission_executor.hpp>

Classes
struct	Configuration
class	MissionMode
class	MissionModeExecutor

Public Member Functions
	MissionExecutor (const std::string &mode_name, const Configuration &configuration, rclcpp::Node &node, const std::string &topic_namespace_prefix="")
bool	doRegister ()
void	setMission (const Mission &mission)
void	resetMission ()
const Mission &	mission () const
void	onActivated (const std::function< void()> &callback)
void	onDeactivated (const std::function< void()> &callback)
void	onProgressUpdate (const std::function< void(int)> &callback)
void	onCompleted (const std::function< void()> &callback)
void	onFailsafeDeferred (const std::function< void()> &callback)
void	onReadynessUpdate (const std::function< void(bool ready, const std::vector< std::string > &errors)> &callback)
void	onActivityInfoChange (const std::function< void(const std::optional< std::string > &)> &callback)
	Registers a callback to be invoked when the activity information changes. This callback provides a way to react to updates in the current activity info. More...
void	setActivityInfo (const std::optional< std::string > &activity_info)
	Sets a string with extra information about the current activity. This provides more specific context than the generic navigation state from PX4. For example, while the navigation state might report "mission," this string can specify "takeoff," "landing," or "surveying." The string should be concise (around 30 characters) to be easily digestible. More...
bool	deferFailsafes (bool enabled, int timeout_s=0)
bool	controlAutoSetHome (bool enabled)
void	abort ()

Protected Member Functions
virtual bool	doRegisterImpl (MissionMode &mode, MissionModeExecutor &executor_base)
void	setCommandHandler (const std::function< bool(uint32_t, float)> &command_handler)
ModeBase::ModeID	modeId () const
ModeExecutorBase &	modeExecutor ()

Protected Attributes
std::shared_ptr< LandDetected >	_land_detected

Friends
class	ActionHandler
class	ActionStateKeeper

Detailed Description

Mission execution state machine.

Member Function Documentation

abort()

void px4_ros2::MissionExecutor::abort

(

)

Abort a currently running mission. This will trigger the onFailure action (which can be customized). The abort reason will be set to 'other'.

deferFailsafes()

bool px4_ros2::MissionExecutor::deferFailsafes	(	bool	enabled,
		int	timeout_s = 0
	)

Enable/disable deferring failsafes. While enabled (and the mission executor is active), most failsafes are prevented from being triggered until the given timeout is exceeded. Some failsafes that cannot be prevented:

• vehicle exceeds attitude limits (can be disabled via parameters)
• the mode cannot run (some mode requirements are not met, such as no position estimate)

  Parameters

  enabled
  timeout_s	0=system default, -1=no timeout

  Returns

  true on success

onActivityInfoChange()

void px4_ros2::MissionExecutor::onActivityInfoChange ( const std::function< void(const std::optional< std::string > &)> &  callback )

inline

Registers a callback to be invoked when the activity information changes. This callback provides a way to react to updates in the current activity info.

Parameters

callback

The function to call with the new optional activity info string.

onProgressUpdate()

void px4_ros2::MissionExecutor::onProgressUpdate ( const std::function< void(int)> &  callback )

inline

Get notified when the current mission item changes. This is the index into the current mission items that is currently being executed (i.e. if it is a waypoint, the current target waypoint)

setActivityInfo()

void px4_ros2::MissionExecutor::setActivityInfo

(

const std::optional< std::string > &

activity_info

)

Sets a string with extra information about the current activity. This provides more specific context than the generic navigation state from PX4. For example, while the navigation state might report "mission," this string can specify "takeoff," "landing," or "surveying." The string should be concise (around 30 characters) to be easily digestible.

Parameters

activity_info

An optional string containing additional information about the current action.

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

• px4_ros2_cpp/include/px4_ros2/mission/mission_executor.hpp