README

AS2_behavior library

Aerostack2 uses Behaviors to handle mission execution

Each behavior is separated in a behavior Server and a behavior client. They are similar to rclcpp actions but with some differences.

  • Each behavior server only attends to a single goal (client) at each moment.

  • Feedback is visible for all nodes

  • They extend start, stop, and feedback with modify, pause, resume, and behavior state data.

We use ros2 services for:

  • start

  • modify (the same syntax than start)

  • pause (std_srvs::srv::Empty)

  • resume (std_srvs::srv::Empty)

  • stop (std_srvs::srv::Empty)

We use ros2 topics for:

  • Feedback

  • State

We take advantage of ros2 action message definitions:

  • Goal: will be used in start and modify services

  • Feedback: Will be used in feedback

  • Response: (Maybe in state, or in inmediate behaviors)

We difference between Inmediate, Recurrent and Regular (or goal oriented) behaviors:

  • Inmediate: act like a service, they dont give Fb and cannot be paused or modified.

  • Recurrent: they give feedback until they are stopped or paused.

  • Goal Oriented: they keep runing until a termination condition is met.