UAL interfaces

There are two ways of interfacing with UAL: via ROS services/topics and directly via C++ object.

C++ class interface

The UAL class is defined in ual.h. You can directly create one UAL object in your app and access its public methods.

• pose() -> Get the latest pose estimation of the robot
• velocity() -> Get the latest velocity estimation of the robot
• odometry() -> Get the latest odometry estimation of the robot
• transform() -> Get the latest transform estimation of the robot
• takeOff(double _height, bool _blocking = true) -> Perform a take off maneuver
• land(bool _blocking = true) -> Land on the current position
• setPose(const PoseStamped& _pose) -> Set the specified pose as a reference to position control
• goToWaypoint(const Waypoint& _wp, bool _blocking = true) -> Go to the specified waypoint smoothly, following a straight line
• setVelocity(const Velocity& _vel) -> Set velocities
• setHome(bool set_z = false) -> Set current pose as home. Set x, y and optionally z to zero.
• recoverFromManual() -> Recover from manual flight mode
• state() -> Get current system state: UNINITIALIZED, LANDED_DISARMED, LANDED_ARMED, TAKING_OFF, FLYING_AUTO, FLYING_MANUAL, LANDING.

ROS interface

The UAL class offers a ROS interface based on topics and services. It can be disabled if the param ual_server is set to off.

Topics

Each topic publishes periodically (at parameter ~pub_rate, that defaults to 30Hz) the information got from the corresponding methods.

• ual/pose
• ual/velocity
• /tf

Services

Each service provides access to each corresponding method.

• ual/take_off
• ual/land
• ual/go_to_waypoint
• ual/set_velocity
• ual/set_home
• ual/recover_from_manual