The px4_ros2 module

Python bindings for px4_ros2_cpp.

Main Classes

class px4_ros2.Node
__init__(self: px4_ros2.px4_ros2_py.Node, node_name: str, debug_output: bool = False) → None
spin(self: px4_ros2.px4_ros2_py.Node) → None

Execute the node (blocking)

spin_non_blocking(self: px4_ros2.px4_ros2_py.Node) → None

Execute the node (non-blocking in a background thread)

Components

class px4_ros2.px4_ros2_py.components.Context
__init__(*args, **kwargs)
class px4_ros2.px4_ros2_py.components.ModeBase
__init__(self: px4_ros2.px4_ros2_py.components.ModeBase, node: px4_ros2.px4_ros2_py.Node, mode_name: str, activate_even_while_disarmed: bool = False, replace_internal_mode: int = 255, prevent_arming: bool = False, user_selectable: bool = True) → None
completed(self: px4_ros2.px4_ros2_py.components.ModeBase, result: px4_ros2.px4_ros2_py.components.Result = <Result.success: 0>) → None
id(self: px4_ros2.px4_ros2_py.components.ModeBase) → int
on_activate(self: px4_ros2.px4_ros2_py.components.ModeBase) → None
on_deactivate(self: px4_ros2.px4_ros2_py.components.ModeBase) → None
register(self: px4_ros2.px4_ros2_py.components.ModeBase) → bool
update_setpoint(self: px4_ros2.px4_ros2_py.components.ModeBase, arg0: float) → None
class px4_ros2.px4_ros2_py.components.ModeExecutorBase
__init__(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, mode: px4_ros2.px4_ros2_py.components.ModeBase) → None
land(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, arg0: Callable[[px4_ros2.px4_ros2_py.components.Result], None]) → None
on_activate(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase) → None
on_deactivate(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, arg0: px4_ros2.px4_ros2_py.components.ModeExecutorDeactivateReason) → None
register(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase) → bool
rtl(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, arg0: Callable[[px4_ros2.px4_ros2_py.components.Result], None]) → None
schedule_mode(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, mode_id: int, on_completed: Callable[[px4_ros2.px4_ros2_py.components.Result], None], forced: bool = False) → None
takeoff(self: px4_ros2.px4_ros2_py.components.ModeExecutorBase, on_completed: Callable[[px4_ros2.px4_ros2_py.components.Result], None], altitude: float = nan, heading: float = nan) → None
class px4_ros2.px4_ros2_py.components.ModeExecutorDeactivateReason

Members:

failsafe_activated

other

__init__(self: px4_ros2.px4_ros2_py.components.ModeExecutorDeactivateReason, value: int) → None
failsafe_activated = <ModeExecutorDeactivateReason.failsafe_activated: 0>
property name
other = <ModeExecutorDeactivateReason.other: 1>
property value
class px4_ros2.px4_ros2_py.components.Result

Members:

deactivated

interrupted

mode_failure_other

rejected

success

timeout

__init__(self: px4_ros2.px4_ros2_py.components.Result, value: int) → None
deactivated = <Result.deactivated: 4>
interrupted = <Result.interrupted: 2>
mode_failure_other = <Result.mode_failure_other: 100>
property name
rejected = <Result.rejected: 1>
success = <Result.success: 0>
timeout = <Result.timeout: 3>
property value

Control

class px4_ros2.px4_ros2_py.control.MulticopterGotoSetpointType
__init__(self: px4_ros2.px4_ros2_py.control.MulticopterGotoSetpointType, context: px4_ros2.px4_ros2_py.components.Context) → None
update(self: px4_ros2.px4_ros2_py.control.MulticopterGotoSetpointType, position: numpy.ndarray[numpy.float32[3, 1]], heading: Optional[float] = None, max_horizontal_speed: Optional[float] = None, max_vertical_speed: Optional[float] = None, max_heading_speed: Optional[float] = None) → None

Geometry

px4_ros2.px4_ros2_py.geometry.deg_to_rad(arg0: float) → float
px4_ros2.px4_ros2_py.geometry.euler_rpy_to_quaternion(roll: float, pitch: float, yaw: float) → tuple

Convert Euler angles (roll, pitch, yaw) to quaternion (w, x, y, z)

px4_ros2.px4_ros2_py.geometry.quaternion_to_euler_rpy(quaternion: tuple) → tuple

Convert quaternion (w, x, y, z) to Euler angles (roll, pitch, yaw) as a tuple

px4_ros2.px4_ros2_py.geometry.quaternion_to_pitch(quaternion: tuple) → float

Extract pitch angle from quaternion (w, x, y, z)

px4_ros2.px4_ros2_py.geometry.quaternion_to_roll(quaternion: tuple) → float

Extract roll angle from quaternion (w, x, y, z)

px4_ros2.px4_ros2_py.geometry.quaternion_to_yaw(quaternion: tuple) → float

Extract yaw angle from quaternion (w, x, y, z)

px4_ros2.px4_ros2_py.geometry.rad_to_deg(arg0: float) → float
px4_ros2.px4_ros2_py.geometry.wrap_pi(arg0: float) → float

Odometry

class px4_ros2.px4_ros2_py.odometry.LocalPosition
__init__(self: px4_ros2.px4_ros2_py.odometry.LocalPosition, context: px4_ros2.px4_ros2_py.components.Context, local_position_is_optional: bool = False) → None
on_update(self: px4_ros2.px4_ros2_py.odometry.LocalPosition, arg0: Callable[[], None]) → None
position_ned(self: px4_ros2.px4_ros2_py.odometry.LocalPosition) → numpy.ndarray[numpy.float32[3, 1]]
position_xy_valid(self: px4_ros2.px4_ros2_py.odometry.LocalPosition) → bool
position_z_valid(self: px4_ros2.px4_ros2_py.odometry.LocalPosition) → bool