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Overview

The controller node oversees operations of the different control modes.

See also: starmac_flyer/ROS API Overview.

ROS API

controller

Master node for vehicle control. Changes control mode states, routes control mode output, etc..

Subscribed Topics

~cmd (flyer_controller/controller_cmd)

• High-level command inputs

<control_mode_x>/status (flyer_controller/control_mode_status)

• Status from control modes

Published Topics

~status (flyer_controller/controller_status)

• Status information

Services

~control_modes (flyer_controller/control_modes)

• Used by control modes to register themselves with this node

Parameters

~initial_active_mode (string, default: "idle")

• Which control mode will initially be active

~initial_standby_mode (string, default: "attitude")

• Which control mode will initially be in standby