as2_behavior

Aerostack2 Behavior Class

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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.