C++ API

Aerostack2

Aerostack2

Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.

Currently is currently developed and tested over ROS 2 humble (over Ubuntu 22.04)

Versions below 1.0.9 were also developed and tested over ROS 2 galactic (over Ubuntu 20.04), can be found in the branch EOL/galactic.

We also have docker images with Aerostack2 preinstalled in ROS 2 Humble, check it out at Aerostack2 Dockerhub.

Most important features:

• Natively developed on ROS 2

• Complete modularity, allowing elements to be changed or interchanged without affecting the rest of the system

• Independence of the aerial platform. Easy Sim2Real deployment.

• Project-oriented, allowing to install and use only the necessary packages for the application to be developed.

• Swarming orientation.

Please visit the [Aerostack2 Documentation] for a complete documentation.

Installation instructions can be found [here].

https://user-images.githubusercontent.com/35956525/231999883-e491aa08-2835-47a9-9c68-5b2936e8594e.mp4

Credits

If you use the code in the academic context, please cite:

• M. Fernandez-Cortizas, M. Molina, P. Arias-Perez, R. Perez-Segui, D. Perez-Saura, and P. Campoy, 2023, “Aerostack2: A software framework for developing multi-robot aerial systems”, ArXiv DOI 2303.18237.

Full C++ API

Namespaces

• Namespace as2

• Namespace as2::control_mode

• Namespace as2::frame

• Namespace as2::gps

• Namespace as2::motionReferenceHandlers

• Namespace as2::rate

• Namespace as2::sensors

• Namespace as2::tf

• Namespace as2::yaml

• Namespace as2_behavior

• Namespace as2_behavior_tree

• Namespace as2_motion_controller_plugin_base

• Namespace as2_names

• Namespace as2_names::actions

• Namespace as2_names::actions::behaviors

• Namespace as2_names::services

• Namespace as2_names::services::behavior

• Namespace as2_names::services::controller

• Namespace as2_names::services::gps

• Namespace as2_names::services::motion_reference

• Namespace as2_names::services::platform

• Namespace as2_names::topics

• Namespace as2_names::topics::actuator_command

• Namespace as2_names::topics::controller

• Namespace as2_names::topics::follow_target

• Namespace as2_names::topics::global

• Namespace as2_names::topics::ground_truth

• Namespace as2_names::topics::motion_reference

• Namespace as2_names::topics::platform

• Namespace as2_names::topics::self_localization

• Namespace as2_names::topics::sensor_measurements

• Namespace as2_platform_multirotor_simulator

• Namespace as2_state_estimator_plugin_base

• Namespace BT

• Namespace controller_handler

• Namespace controller_manager

• Namespace differential_flatness_controller

• Namespace follow_path_base

• Namespace follow_path_plugin_position

• Namespace follow_path_plugin_trajectory

• Namespace gazebo

• Namespace gazebo_platform

• Namespace GeographicLib

• Namespace go_to_base

• Namespace go_to_plugin_position

• Namespace go_to_plugin_trajectory

• Namespace ground_truth

• Namespace ignition

• Namespace ignition::gazebo

• Namespace land_base

• Namespace land_plugin_platform

• Namespace land_plugin_speed

• Namespace land_plugin_trajectory

• Namespace mbzirc

• Namespace mocap_pose

• Namespace nav2_behavior_tree

• Namespace pid_speed_controller

• Namespace point_gimbal_behavior

• Namespace raw_odometry

• Namespace rclcpp

• Namespace std

• Namespace std::chrono_literals

• Namespace takeoff_base

• Namespace takeoff_plugin_platform

• Namespace takeoff_plugin_position

• Namespace takeoff_plugin_speed

• Namespace takeoff_plugin_trajectory

Classes and Structs

• Struct AzimuthBridge::Quaternion

• Struct Acro_command

• Struct Control_flags

• Struct UAV_reference

• Struct UAV_state

• Struct follow_path_plugin_params

• Struct go_to_plugin_params

• Struct land_plugin_params

• Struct Control_flags

• Struct UAV_command

• Struct UAV_state

• Struct gimbal_status

• Struct Position2D

• Struct takeoff_plugin_params

• Class AzimuthBridge

• Class CalculateGoal

• Class DetectArucoMarkersBehavior

• Class Plugin

• Class DynamicPolynomialTrajectoryGenerator

• Class FollowPathBase

• Class Plugin

• Class Plugin

• Class FollowPathBehavior

• Class FollowPathBehaviorEmulator

• Class FollowReferenceBehavior

• Class GimbalBridge

• Class GoToBase

• Class Plugin

• Class Plugin

• Class GoToBehavior

• Class GoTobehaviorEmulator

• Class GoToBehaviorEmulator

• Class GPSBridge

• Class Plugin

• Class GroundTruthBridge

• Class LandBase

• Class Plugin

• Class Plugin

• Class Plugin

• Class LandBehavior

• Class LandBehaviorEmulator

• Class SuctionGripperPlugin

• Class SuctionGripperPrivate

• Class Plugin

• Class ObjectFramePublisher

• Class Plugin

• Class PlatformEmulator

• Class PointGimbalBehavior

• Class PrintTarget

• Class Plugin

• Class TakeoffBase

• Class Plugin

• Class Plugin

• Class Plugin

• Class Plugin

• Class TakeoffBehavior

• Class TakeoffBehaviorEmulator

Enums

• Enum ExecutionStatus

Functions

• Function as2::control_mode::compareModes(const uint8_t, const uint8_t, const uint8_t)

• Function as2::control_mode::compareModes(const as2_msgs::msg::ControlMode&, const as2_msgs::msg::ControlMode&, const uint8_t)

• Function as2::control_mode::controlModeToString(const uint8_t)

• Function as2::control_mode::controlModeToString(const as2_msgs::msg::ControlMode&)

• Function as2::control_mode::convertAS2ControlModeToUint8t

• Function as2::control_mode::convertToUint8t(const as2_msgs::msg::ControlMode&)

• Function as2::control_mode::convertToUint8t(uint8_t, uint8_t, uint8_t)

• Function as2::control_mode::convertUint8tToAS2ControlMode

• Function as2::control_mode::isHoverMode(const uint8_t)

• Function as2::control_mode::isHoverMode(const as2_msgs::msg::ControlMode&)

• Function as2::control_mode::isUnsetMode(const uint8_t)

• Function as2::control_mode::isUnsetMode(const as2_msgs::msg::ControlMode&)

• Function as2::control_mode::printControlMode(const as2_msgs::msg::ControlMode&)

• Function as2::control_mode::printControlMode(uint8_t)

• Function as2::frame::angleMinError

• Function as2::frame::eulerToQuaternion(const double, const double, const double, tf2::Quaternion&)

• Function as2::frame::eulerToQuaternion(const double, const double, const double, geometry_msgs::msg::Quaternion&)

• Function as2::frame::eulerToQuaternion(const double, const double, const double, Eigen::Quaterniond&)

• Function as2::frame::getVector2DAngle

• Function as2::frame::getYawFromQuaternion(const tf2::Quaternion&)

• Function as2::frame::getYawFromQuaternion(const geometry_msgs::msg::Quaternion&)

• Function as2::frame::getYawFromQuaternion(const Eigen::Quaterniond&)

• Function as2::frame::quaternionToEuler(const tf2::Quaternion&, double&, double&, double&)

• Function as2::frame::quaternionToEuler(const geometry_msgs::msg::Quaternion&, double&, double&, double&)

• Function as2::frame::quaternionToEuler(const Eigen::Quaterniond&, double&, double&, double&)

• Function as2::frame::transform(const tf2::Quaternion&, const Eigen::Vector3d&)

• Function as2::frame::transform(const float, const float, const float, const Eigen::Vector3d&)

• Function as2::frame::transform(const geometry_msgs::msg::Quaternion&, const Eigen::Vector3d&)

• Function as2::frame::transform(const Eigen::Quaterniond&, const Eigen::Vector3d&)

• Function as2::frame::transformInverse(const tf2::Quaternion&, const Eigen::Vector3d&)

• Function as2::frame::transformInverse(const float, const float, const float, const Eigen::Vector3d&)

• Function as2::frame::transformInverse(const geometry_msgs::msg::Quaternion&, const Eigen::Vector3d&)

• Function as2::frame::transformInverse(const Eigen::Quaterniond&, const Eigen::Vector3d&)

• Function as2::frame::wrapAngle0To2Pi

• Function as2::frame::wrapAnglePiToPi

• Function as2::gps::Ecef2LatLon

• Function as2::spinLoop

• Function as2::tf::generateTfName(const std::string&, const std::string&)

• Function as2::tf::generateTfName(rclcpp::Node *, std::string)

• Function as2::tf::getTransformation

• Function as2::yaml::find_tag_across_multiple_yaml_files

• Template Function as2::yaml::find_tag_from_project_exports_path

• Template Function as2::yaml::find_tag_in_yaml_file

• Function as2::yaml::find_tag_in_yaml_node

• Function as2::yaml::find_yaml_files_inside

• Function as2::yaml::get_project_export_path_from_xml_path

• Function as2::yaml::parse_uint_from_string(const std::string&)

• Function as2::yaml::parse_uint_from_string(const std::vector<std::string>&)

• Function as2::yaml::search_tag_across_multiple_yaml_files

• Specialized Template Function BT::convertFromString(BT::StringView)

• Specialized Template Function BT::convertFromString(StringView)

• Function controller_handler::checkMatchWithMask

• Function controller_handler::findBestMatchWithMask

• Function generateDynamicPoint(const as2_msgs::msg::PoseWithID&, dynamic_traj_generator::DynamicWaypoint&)

• Function generateDynamicPoint(const as2_msgs::msg::PoseWithID&, dynamic_traj_generator::DynamicWaypoint&)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main()

• Function main()

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char **)

• Function main(int, char **)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char *)

• Function main(int, char **)

• Function main(int, char *)

• Function PYBIND11_MODULE

• Function targetIds2string(const std::vector<uint16_t>&)

• Function targetIds2string(const std::vector<uint16_t>&)

Variables

• Variable as2::gps::earth

• Variable as2::gps::global_frame

• Variable as2_names::actions::behaviors::followpath

• Variable as2_names::actions::behaviors::followreference

• Variable as2_names::actions::behaviors::gotowaypoint

• Variable as2_names::actions::behaviors::land

• Variable as2_names::actions::behaviors::takeoff

• Variable as2_names::actions::behaviors::trajectorygenerator

• Variable as2_names::services::behavior::dynamic_follower

• Variable as2_names::services::behavior::dynamic_land

• Variable as2_names::services::behavior::package_pickup

• Variable as2_names::services::behavior::package_unpick

• Variable as2_names::services::controller::list_control_modes

• Variable as2_names::services::controller::set_control_mode

• Variable as2_names::services::gps::geopath_to_path

• Variable as2_names::services::gps::get_origin

• Variable as2_names::services::gps::path_to_geopath

• Variable as2_names::services::gps::set_origin

• Variable as2_names::services::motion_reference::add_traj_wayp

• Variable as2_names::services::motion_reference::send_traj_wayp

• Variable as2_names::services::motion_reference::set_traj_speed

• Variable as2_names::services::platform::land

• Variable as2_names::services::platform::list_control_modes

• Variable as2_names::services::platform::set_arming_state

• Variable as2_names::services::platform::set_offboard_mode

• Variable as2_names::services::platform::set_platform_control_mode

• Variable as2_names::services::platform::set_platform_state_machine_event

• Variable as2_names::services::platform::takeoff

• Variable as2_names::services::set_speed

• Variable as2_names::topics::actuator_command::pose

• Variable as2_names::topics::actuator_command::qos

• Variable as2_names::topics::actuator_command::thrust

• Variable as2_names::topics::actuator_command::trajectory

• Variable as2_names::topics::actuator_command::twist

• Variable as2_names::topics::controller::info

• Variable as2_names::topics::controller::qos_info

• Variable as2_names::topics::follow_target::info

• Variable as2_names::topics::follow_target::qos_info

• Variable as2_names::topics::global::alert_event

• Variable as2_names::topics::global::qos

• Variable as2_names::topics::ground_truth::pose

• Variable as2_names::topics::ground_truth::qos

• Variable as2_names::topics::ground_truth::twist

• Variable as2_names::topics::motion_reference::modify_waypoint

• Variable as2_names::topics::motion_reference::pose

• Variable as2_names::topics::motion_reference::qos

• Variable as2_names::topics::motion_reference::qos_trajectory

• Variable as2_names::topics::motion_reference::qos_waypoint

• Variable as2_names::topics::motion_reference::traj_gen_info

• Variable as2_names::topics::motion_reference::trajectory

• Variable as2_names::topics::motion_reference::twist

• Variable as2_names::topics::motion_reference::waypoints

• Variable as2_names::topics::platform::info

• Variable as2_names::topics::platform::qos

• Variable as2_names::topics::self_localization::odom

• Variable as2_names::topics::self_localization::pose

• Variable as2_names::topics::self_localization::qos

• Variable as2_names::topics::self_localization::twist

• Variable as2_names::topics::sensor_measurements::base

• Variable as2_names::topics::sensor_measurements::battery

• Variable as2_names::topics::sensor_measurements::camera

• Variable as2_names::topics::sensor_measurements::gps

• Variable as2_names::topics::sensor_measurements::imu

• Variable as2_names::topics::sensor_measurements::lidar

• Variable as2_names::topics::sensor_measurements::odom

• Variable as2_names::topics::sensor_measurements::qos

• Variable xml_text

• Variable xml_text

Defines

• Define ASCII_KEY_DOWN

• Define ASCII_KEY_LEFT

• Define ASCII_KEY_RIGHT

• Define ASCII_KEY_UP

• Define PATH_DEBUG_TOPIC

• Define REF_TRAJ_TOPIC

Typedefs

• Typedef as2::Event

• Typedef as2::Rate

• Typedef as2::sensors::Barometer

• Typedef as2::sensors::Battery

• Typedef as2::sensors::Compass

• Typedef as2::sensors::GPS

• Typedef as2::sensors::Imu

• Typedef as2::sensors::Lidar

• Typedef as2::sensors::Odometry

• Typedef as2::sensors::RangeFinder

• Typedef as2::WallRate

• Typedef CallbackReturn

Directories

• Directory as2_aerial_platforms

• Directory as2_platform_gazebo

• Directory include

• Directory as2_platform_gazebo

• Directory src

• Directory as2_platform_multirotor_simulator

• Directory include

• Directory as2_platform_multirotor_simulator

• Directory src

• Directory as2_behavior_tree

• Directory include

• Directory as2_behavior_tree

• Directory action

• Directory condition

• Directory decorator

• Directory plugins

• Directory action

• Directory condition

• Directory decorator

• Directory src

• Directory test

• Directory node_emulators

• Directory include

• Directory node_emulators

• Directory src

• Directory as2_behaviors

• Directory as2_behavior

• Directory include

• Directory as2_behavior

• Directory __detail

• Directory __impl

• Directory src

• Directory as2_behaviors_motion

• Directory follow_path_behavior

• Directory include

• Directory follow_path_behavior

• Directory plugins

• Directory src

• Directory follow_reference_behavior

• Directory include

• Directory follow_reference_behavior

• Directory src

• Directory go_to_behavior

• Directory include

• Directory go_to_behavior

• Directory plugins

• Directory src

• Directory land_behavior

• Directory include

• Directory land_behavior

• Directory plugins

• Directory src

• Directory takeoff_behavior

• Directory include

• Directory takeoff_behavior

• Directory plugins

• Directory src

• Directory as2_behaviors_perception

• Directory detect_aruco_markers_behavior

• Directory include

• Directory detect_aruco_markers_behavior

• Directory src

• Directory point_gimbal_behavior

• Directory include

• Directory point_gimbal_behavior

• Directory src

• Directory as2_behaviors_platform

• Directory include

• Directory as2_behaviors_platform

• Directory src

• Directory as2_behaviors_trajectory_generation

• Directory generate_polynomial_trajectory_behavior

• Directory include

• Directory generate_polynomial_trajectory_behavior

• Directory src

• Directory as2_core

• Directory include

• Directory as2_core

• Directory names

• Directory utils

• Directory src

• Directory utils

• Directory as2_hardware_drivers

• Directory as2_realsense_interface

• Directory include

• Directory as2_realsense_interface

• Directory src

• Directory as2_usb_camera_interface

• Directory include

• Directory as2_usb_camera_interface

• Directory src

• Directory as2_motion_controller

• Directory include

• Directory as2_motion_controller

• Directory plugins

• Directory differential_flatness_controller

• Directory include

• Directory differential_flatness_controller

• Directory src

• Directory pid_speed_controller

• Directory include

• Directory pid_speed_controller

• Directory src

• Directory src

• Directory as2_motion_reference_handlers

• Directory include

• Directory as2_motion_reference_handlers

• Directory src

• Directory as2_simulation_assets

• Directory as2_gazebo_assets

• Directory plugins

• Directory src

• Directory as2_state_estimator

• Directory include

• Directory as2_state_estimator

• Directory plugins

• Directory ground_truth

• Directory include

• Directory src

• Directory mocap_pose

• Directory include

• Directory src

• Directory raw_odometry

• Directory include

• Directory src

• Directory src

• Directory as2_user_interfaces

• Directory as2_alphanumeric_viewer

• Directory include

• Directory as2_alphanumeric_viewer

• Directory src

Files

• File _as2_core_pybind11.cpp

• File actions.hpp

• File aerial_platform.cpp

• File aerial_platform.hpp

• File alphanumeric_viewer.cpp

• File alphanumeric_viewer.hpp

• File alphanumeric_viewer_node.cpp

• File arm_service.cpp

• File arm_service.hpp

• File as2_basic_behavior.hpp

• File as2_basic_behavior.hpp

• File as2_behavior_tree_node.cpp

• File as2_platform_multirotor_simulator.cpp

• File as2_platform_multirotor_simulator.hpp

• File as2_platform_multirotor_simulator_node.cpp

• File as2_realsense_interface.cpp

• File as2_realsense_interface.hpp

• File as2_realsense_interface_node.cpp

• File as2_usb_camera_interface.cpp

• File as2_usb_camera_interface.hpp

• File as2_usb_camera_interface_node.cpp

• File azimuth_bridge.cpp

• File basic_motion_references.cpp

• File basic_motion_references.hpp

• File behavior_client.cpp

• File behavior_server.cpp

• File behavior_server.hpp

• File behavior_server__class.hpp

• File behavior_server__impl.hpp

• File behavior_utils.hpp

• File bt_action_node.hpp

• File bt_service_node.hpp

• File control_mode_utils.cpp

• File control_mode_utils.hpp

• File controller_base.hpp

• File controller_handler.cpp

• File controller_handler.hpp

• File controller_manager.cpp

• File controller_manager.hpp

• File controller_manager_node.cpp

• File core_functions.cpp

• File core_functions.hpp

• File detect_aruco_markers_behavior.cpp

• File detect_aruco_markers_behavior.hpp

• File detect_aruco_markers_behavior_node.cpp

• File differential_flatness_controller.cpp

• File differential_flatness_controller.hpp

• File echo.cpp

• File echo.hpp

• File follow_path.hpp

• File follow_path_base.hpp

• File follow_path_behavior.cpp

• File follow_path_behavior.hpp

• File follow_path_behavior_main.cpp

• File follow_path_emulator.cpp

• File follow_path_emulator.hpp

• File follow_path_plugin_position.cpp

• File follow_path_plugin_trajectory.cpp

• File follow_reference_behavior.cpp

• File follow_reference_behavior.hpp

• File follow_reference_behavior_main.cpp

• File frame_utils.cpp

• File frame_utils.hpp

• File gazebo_platform.cpp

• File gazebo_platform.hpp

• File gazebo_platform_main.cpp

• File generate_polynomial_trajectory_behavior.cpp

• File generate_polynomial_trajectory_behavior.hpp

• File generate_polynomial_trajectory_behavior_node.cpp

• File get_origin.cpp

• File get_origin.hpp

• File gimbal_bridge.cpp

• File go_to_action.cpp

• File go_to_action.hpp

• File go_to_base.hpp

• File go_to_behavior.cpp

• File go_to_behavior.hpp

• File go_to_behavior_main.cpp

• File go_to_emulator.cpp

• File go_to_emulator.hpp

• File go_to_gps_action.cpp

• File go_to_gps_action.hpp

• File go_to_plugin_position.cpp

• File go_to_plugin_trajectory.cpp

• File goto_emulator.hpp

• File gps_bridge.cpp

• File gps_to_cartesian.cpp

• File gps_to_cartesian.hpp

• File gps_utils.cpp

• File gps_utils.hpp

• File ground_truth.cpp

• File ground_truth.hpp

• File ground_truth_bridge.cpp

• File hover_motion.cpp

• File hover_motion.hpp

• File is_flying_condition.cpp

• File is_flying_condition.hpp

• File land_action.cpp

• File land_action.hpp

• File land_base.hpp

• File land_behavior.cpp

• File land_behavior.hpp

• File land_behavior_main.cpp

• File land_emulator.cpp

• File land_emulator.hpp

• File land_plugin_platform.cpp

• File land_plugin_speed.cpp

• File land_plugin_trajectory.cpp

• File mocap_pose.cpp

• File mocap_pose.hpp

• File node.cpp

• File node.hpp

• File object_tf_broadcaster.cpp

• File offboard_service.cpp

• File offboard_service.hpp

• File pid_speed_controller.cpp

• File pid_speed_controller.hpp

• File platform_emulator.cpp

• File platform_emulator.hpp

• File platform_state_machine.cpp

• File platform_state_machine.hpp

• File plugin_base.hpp

• File point_gimbal_behavior.cpp

• File point_gimbal_behavior.hpp

• File point_gimbal_behavior_node.cpp

• File port.cpp

• File port_pose.cpp

• File port_specialization.hpp

• File position_motion.cpp

• File position_motion.hpp

• File rate.cpp

• File rate.hpp

• File raw_odometry.cpp

• File raw_odometry.hpp

• File README.md

• File send_event.cpp

• File send_event.hpp

• File sensor.cpp

• File sensor.hpp

• File services.hpp

• File set_arming_state_behavior.hpp

• File set_arming_state_behavior_main.cpp

• File set_offboard_mode_behavior.hpp

• File set_offboard_mode_behavior_main.cpp

• File set_origin.cpp

• File set_origin.hpp

• File speed_in_a_plane_motion.cpp

• File speed_in_a_plane_motion.hpp

• File speed_motion.cpp

• File speed_motion.hpp

• File state_estimator.cpp

• File state_estimator.hpp

• File state_estimator_node.cpp

• File SuctionGripper.cc

• File SuctionGripper.hh

• File synchronous_service_client.hpp

• File takeoff_action.cpp

• File takeoff_action.hpp

• File takeoff_base.hpp

• File takeoff_behavior.cpp

• File takeoff_behavior.hpp

• File takeoff_behavior_main.cpp

• File takeoff_emulator.cpp

• File takeoff_emulator.hpp

• File takeoff_plugin_platform.cpp

• File takeoff_plugin_position.cpp

• File takeoff_plugin_speed.cpp

• File takeoff_plugin_trajectory.cpp

• File tf_utils.cpp

• File tf_utils.hpp

• File topics.hpp

• File trajectory_motion.cpp

• File trajectory_motion.hpp

• File wait_for_alert.cpp

• File wait_for_alert.hpp

• File wait_for_event.cpp

• File wait_for_event.hpp

• File yaml_utils.cpp

• File yaml_utils.hpp