Class TakeoffBehavior

Defined in File takeoff_behavior.hpp

Inheritance Relationships

Base Type

public as2_behavior::BehaviorServer< as2_msgs::action::Takeoff >

Class Documentation

class TakeoffBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::Takeoff>

Public Types

using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>

using PSME = as2_msgs::msg::PlatformStateMachineEvent

Public Functions

explicit TakeoffBehavior(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

~TakeoffBehavior()

void state_callback(const geometry_msgs::msg::TwistStamped::SharedPtr _twist_msg)

bool sendEventFSME(const int8_t _event)

bool process_goal(std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal, as2_msgs::action::Takeoff::Goal &new_goal)

bool on_activate(std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal) override

bool on_modify(std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal) override

virtual bool on_deactivate(const std::shared_ptr<std::string> &message) override

virtual bool on_pause(const std::shared_ptr<std::string> &message) override

virtual bool on_resume(const std::shared_ptr<std::string> &message) override

as2_behavior::ExecutionStatus on_run(const std::shared_ptr<const as2_msgs::action::Takeoff::Goal> &goal, std::shared_ptr<as2_msgs::action::Takeoff::Feedback> &feedback_msg, std::shared_ptr<as2_msgs::action::Takeoff::Result> &result_msg) override

virtual void on_execution_end(const as2_behavior::ExecutionStatus &state) override