The controller node oversees operations of the different control modes.
See also: starmac_flyer/ROS API Overview.
controllerMaster node for vehicle control. Changes control mode states, routes control mode output, etc..
Subscribed Topics~cmd (flyer_controller/controller_cmd)
- High-level command inputs
- Status from control modes
Published Topics~status (flyer_controller/controller_status)
- Status information
- Used by control modes to register themselves with this node
Parameters~initial_active_mode (string, default: "idle")
- Which control mode will initially be active
- Which control mode will initially be in standby