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99 Work/0 OneSec/OneSecNotes/00 Daily/2023-10-16.md

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+---
+tags:
+  - daily
+date: 2023-10-16
+---
+## Tasks
+- [ ] Find a way to properly implement the PX4-Commander
+
+## Quick Notes
+### PX4-Commander
+The idea of this module is that there is one instance running that handles all commands that are being sent to the px4 flight controller. Because as soon as the px4-offboard mode is being used we need to stream commands at a minimum of 2 Hz, else PX4 will fallback to another flightmode and thus we loose control.
+If we now want to implement different behaviors that can be combined together, such as a hooklanding, delivery procedure, keep position, loiter, etc. we need a way of sending those commands continuosly without interruption.
+There are different approaches on how we could implement this:
+1. one central node (px4-commander) that runs its main loop and has multiple action servers, where each action server implements one behavior. The central node then manages those actions and makes sure that only one can be executed at the time (I think of it as if we hand a baton from one action server to the next as in a relay race). If no action is actively running the central node immediately runs a fallback (keep position) to keep the drone in px4-offboard mode.
+2. Look at how NAV2 implements this and see if we can copy it. The NAV2 library is implemented well and we should get inspired by it.
+
+
+#### Thoughts
+#osd-thoughts
+Ich kann mich nicht spezialisieren. Nach den heutigen Recherchen sehe ich wie kompliziert ROS2 sein kann (und auch wie effizient). Jedoch kratze ich nur immer an der Oberfläche für eine schnelle Implementierung und kann unsere Software nicht gründlich und langfrisitg implementieren. 
+
+Ich bin gestresst. Heute habe ich fast alle meine Nägel inkl. Haut abgeknabert. Ich war wie in einer Paralyse und konnte mich nicht dazu bringen irgendetwas zu machen. Ich fühlte mich komplett überwältigt und eingefroren. Ich weiss eigentlich was ich machen sollte, kann mich aber nicht dazu bringen es auszuführen.
+## Learnings
+