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Commit cb4a18c9 authored by Tommy Persson's avatar Tommy Persson
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Documentation updated

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......@@ -39,7 +39,91 @@ interfere with each other cannot be executed concurrently.
**Node resources**: None
## supp
**Description**: Work as a concurrent node. Is uses to indicate that all things under the node is support things which we need to send a finish to before exiting the node. Should be a child of a conc. The conc node and supp node have to send the finish signal. Immediately starts the execution of all children in parallel. This node cannot be aborted (abort its children instead). IMPORTANT: There can not be a supp node under another supp node.
**Tags**: control
**Parameters**: None
**Node type**: non-terminal
**Required params for execution**: None
**Node resources**: None
# Terminal TST node types
## climb
**Description**: Climbs to a specified altitude.
**Tags**: vehicle
**Parameters**:
- **z** (float64): This specifies the desired elevation above the WGS84 ellipsoid (unless the height-above-takeoff value is specified).
- **height-above-takeoff** (float64): If specified, then the this value is interpreted as relative to the last point where the aircraft took off. This allows missions to be specified in a more generic way without having to customize them for the altitude of a particular location.
- **height-above-ground** (float64): If specified, then the this value is interpreted as relative to the ground (or what a sensor in the UAV consider to be ground). This allows missions to be specified in a more generic way without having to customize them for the altitude of a particular location.
**Node type**: terminal
**Required params for execution**: None
**Node resources**: fly climb
## fly-path
**Description**: This node visits a sequence of waypoints. Unlike fly-pattern, there is no constraint on exactly how the aircraft should fly between these waypoints. As the node does not specify the expected starting position, the delegation process will not be able to determine in advance how far the aircraft must fly. Therefore it will also not be able to compute a duration for the command.
**Tags**: vehicle
**Parameters**:
- **commanded-speed** (float64): The commanded (desired) flight speed in meters per second. This can be omitted, in which case a platform-specific default speed will be used. Do not use both commanded-speed and speed.
- **speed** (string): This allows the specification of a qualitative speed level as an alternative to commanding a specific speed. Possible values are 'fast', 'standard' and 'slow', and the meaning of these parameters is platform-dependent. Do not use both commanded-speed and speed.
- **follow-ground-flag** (bool): Fly at a given altitude above the ground, as specified by follow-ground-altitude. The platform must have access to suitable altitude maps. Currently not supported on the DJI Matrice.
- **follow-ground-altitude** (float64): See follow-ground-flag
- **waypoints** (geopoints): A sequence of way points to fly through or to.
- **path** (geopoints): Used in proposal and execution. A sequence of way points to fly through or to.
- **do-not-yaw-flag** (bool): Currently not supported on the DJI Matrice.
- **continue-resets-gimbal-flag** (bool): When continue reset the gimbal to the value it had when starting the executor.
- **wait-for-airspace-booking** (bool): Wait for airspace booking. If false fails if airspace could not be booked. Default value is true.
- **max-wait-time** (int32): Max time to wait for airspace booking. If value is <=0 then wait forever. Default value is 0
**Node type**: terminal
**Required params for execution**: waypoints
**Node resources**: fly fly_path
## fly-pattern
**Description**: This node flies a pattern, for example a search or scan pattern. Different type of patterns can be specified. In contrast to fly-path, this node assumes that the exact trajectory is important. For example, one may have to fly straight lines between given waypoints in order to gather suitably overlapping 3D mapping data..
**Tags**: vehicle
**Parameters**:
- **commanded-speed** (float64): The commanded (desired) flight speed in meters per second. This can be omitted, in which case a platform-specific default speed will be used. Do not use both commanded-speed and speed.
- **speed** (string): This allows the specification of a qualitative speed level as an alternative to commanding a specific speed. Possible values are 'fast', 'standard' and 'slow', and the meaning of these parameters is platform-dependent. Do not use both commanded-speed and speed.
- **follow-ground-flag** (bool): Fly at a given altitude above the ground, as specified by follow-ground-altitude. The platform must have access to suitable altitude maps. Currently not supported on the DJI Matrice.
- **follow-ground-altitude** (float64): See follow-ground-flag
- **continue-resets-gimbal-flag** (bool): When continue reset the gimbal to the value it had when starting the executor.
- **pattern-type** (string): The type of pattern to fly. Possible values: 'segments'. (This node is new; additional patterns will be added.)
- **waypoints** (geopoints): If pattern-type is 'segments': A sequence of n waypoints, defining n/2 segments to fly. Each segment must be flown in a straight line. Aircraft may fly arbitrarily between one segment and the next.
- **path** (geopoints): Used in proposal and execution. A sequence of way points to fly through or to.
- **any-order-flag** (bool): If set, then the segments can be flown in arbitrary order. Otherwise, they must be flown in the order they are specified. Allowing segments to be flown in any order allows the aircraft to optimize its trajectory according to its flight envelope and starting position, but can interfere with certain forms of information gathering.
- **do-not-yaw-flag** (bool): Currently not supported on the DJI Matrice
- **wait-for-airspace-booking** (bool): Wait for airspace booking. If false fails if airspace could not be booked. Default value is true.
- **max-wait-time** (int32): Max time to wait for airspace booking. If value is <=0 then wait forever. Default value i 0
**Node type**: terminal
**Required params for execution**: None
**Node resources**: fly fly_pattern
## fly-to
**Description**: This node flies to a given position. As it does not specify the expected starting position, the delegation process will not be able to determine in advance how far the aircraft must fly (unlike fly-from-to). Therefore it will also not be able to compute a duration for the command.
......@@ -69,6 +153,8 @@ interfere with each other cannot be executed concurrently.
- **follow-ground-flag** (bool): Fly at a given altitude above the ground, as specified by follow-ground-altitude. The platform must have access to suitable altitude maps. Currently not supported on the DJI Matrice.
- **follow-ground-altitude** (float64): See follow-ground-flag
- **continue-resets-gimbal-flag** (bool): When continue reset the gimbal to the value it had when starting the executor.
- **fly-home-flag** (bool): If true fly to the home lat, lon using the specified altitude in fly-home-height.
- **fly-home-height** (float64): Height above takeoff point when doing fly-home
- **fly-straight-line-flag** (bool): If true, the aircraft must fly in a straight line from its current location to the target position. Otherwise, there is no constraint on exactly how the aircraft should fly between these waypoints. Currently not supported on the DJI Matrice.
**Node type**: terminal
......@@ -126,6 +212,25 @@ interfere with each other cannot be executed concurrently.
**Node resources**: None
## land
**Description**: Causes the platform to land.
**Tags**: vehicle
**Task Parameters**:
- **p** (geopoint): The position at which the platform should land, if land-at-current-position-flag is false.
- **land-at-current-position-flag** (bool): If this flag is true, land at the current position of the aircraft. Otherwise, land at the position given by p
- **z** (float64): The offset from the default landing altitude to use in simulations. Default value is 0.0
- **heading** (float64): Specify this for fixed-wing platforms that require a heading in order to land. Helicopters may ignore this parameter.
**Node type**: terminal
**Required params for execution**: None
**Node resources**: fly
## look-at-bearing
**Description**: This task causes the platform with a camera to point that camera using the specified bearing. The task is intended for cases where one should for example capture video, so rather than pointing once, it encapsulates a process where the camera is continuously adjusted. The task will only terminate when a signal $enough is sent to the task.
......@@ -220,6 +325,8 @@ interfere with each other cannot be executed concurrently.
- **waypoint** (geopoint): The position to move to
- **speed** (string): Qualitative speed level. Possible values are 'fast', 'standard' and 'slow', and the meaning of these parameters is platform-dependent.
- **camera-data-recording** (bool): If set save data from camera while moving.
- **laser-data-recording** (bool): If set save data from camera while moving.
**Node type**: terminal
......@@ -278,6 +385,25 @@ interfere with each other cannot be executed concurrently.
**Node resources**: None
## return-home
**Description**: Return a vehicle to a home position. Use a vehicle dependent default speed if no speed is speicied.
**Tags**: None
**Parameters**:
- **commanded-speed** (float64): The commanded (desired) flight speed in meters per second. This can be omitted, in which case a platform-specific default speed will be used. Do not use both commanded-speed and speed.
- **speed** (string): This allows the specification of a qualitative speed level as an alternative to commanding a specific speed. Possible values are 'fast', 'standard' and 'slow', and the meaning of these parameters is platform-dependent. Do not use both commanded-speed and speed.
- **wait-for-airspace-booking** (bool): Wait for airspace booking. If false fails if airspace could not be booked. Default value is true.
- **max-wait-time** (int32): Max time to wait for airspace booking. If value is <=0 then wait forever. Default value i 0
**Node type**: terminal
**Required params for execution**: None
**Node resources**: None
## search-area
**Description**: This node specifies a search of an area given by a list of geopoints. The area is 'closed' by assuming a segment between the last and first position in the list of geopoints. It is allowed to prepare for moving inside the node, for example doing take-off before flying.
......@@ -293,6 +419,9 @@ interfere with each other cannot be executed concurrently.
- **target-type** (string): The type of the search target. Possible values: person, boat, ship, car, ...
- **area-type** (string): The type of the search target. Possible values: water, beach, forrest, field
- **target-size** (float64): The estimates size of the search target in meter.
- **camera-data-recording** (bool): If set save data from camera while moving.
- **laser-data-recording** (bool): If set save data from camera while moving.
- **go-home** (bool): If set save data from camera while moving.
**Node type**: terminal
......@@ -344,6 +473,65 @@ interfere with each other cannot be executed concurrently.
**Node resources**: None
## sit
**Description**: Causes the platform to land.
**Tags**: vehicle
**Task Parameters**: None
**Node type**: terminal
**Required params for execution**: None
**Node resources**: move
## stand
**Description**: Causes the platform to land.
**Tags**: vehicle
**Task Parameters**: None
**Node type**: terminal
**Required params for execution**: None
**Node resources**: move
## start-data-recording
**Description**: This node starts recording all the topics in the topics parameter. If topics does not start with a / then the namespace is added.
**Tags**: None
**Parameters**:
- **options** (strings): options for the recording, such as compression (optional, if set, should have the same length as topics).
**Node type**: terminal
**Required params for execution**: topics dataset-uri
**Node resources**: None
## stop-data-recording
**Description**: This node stops recording all the ROS topics in the topics parameter. If a topic have been started twice you have to stop it twice also to really stop the recording.
**Tags**: None
**Parameters**:
**Node type**: terminal
**Required params for execution**: topics dataset-uri
**Node resources**: None
## wait
**Description**: Wait for a specified amount of time.
......@@ -360,3 +548,21 @@ interfere with each other cannot be executed concurrently.
**Node resources**: None
## yaw
**Description**: Causes the platform to yaw and point in the specified direction.
**Tags**: vehicle
**Parameters**:
- **heading** (float64): The desired yaw angle in degrees. 0 is north, and positive clockwise.
- **yaw-rate** (string): A qualitative specification of the desired yaw-rate. The meaning is platform dependent. Possible values: fast, standard, slow
- **p** (geopoint): The position to yaw towards if the flag is set.
**Node type**: terminal
**Required params for execution**: None
**Node resources**: fly
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