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Main/8 Places/BusinessesDrawing 2023-10-12 16.01.52.excalidraw.md

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excalidraw

==⚠ Switch to EXCALIDRAW VIEW in the MORE OPTIONS menu of this document. ⚠==

Text Elements

PX4 Info Node ^SHjaC7GH

getCurrentPose ^bntLlwqf

  • handle_goal
  • handle_cancel
  • handle_accepted

The important part is execute:

  • for loop through trajectory and send offboard commands to px4 ^5knELniv

MoveSmoothActionServer ^jNLQaaLq

  • This class implements the Action client that sets the goal, and has the callbacks for receiving feedback and the result. It inherits from the baseclass RosActionNode which itself inherits from the Behaviortree library, meaning it implement a Behaviortree action.

  • parent class calls setGoal and then

  • Uses the client to call the server through async_send_goal

^CMXgBmzj

MoveSmoothAction ^jLt0dnKk

Embedded files

53a29778b62e67d5d6ee80cf34453e58bcb88187: Pasted Image 20231012160459_976.png

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