vehicle_common.mode

Classes

Mode	Base class for UAV operational modes within a ROS 2 node.

Module Contents

class Mode[VehicleT: vehicle_common.vehicle.Vehicle, ParamsT: pydantic.BaseModel]

Bases: abc.ABC

Base class for UAV operational modes within a ROS 2 node. Provides a structured template for implementing autonomous behaviors.

transition_labels: ClassVar[tuple[str, ...]] = ()

active = False

abstractmethod initialize(node: rclpy.node.Node, vehicle: VehicleT, params: ParamsT) → None

Abstract method for initializing a mode

Parameters:

• node – The ROS 2 node that gets passed into the mode

• vehicle – The vehicle instance that the current mode has control over

• params – A validated pydantic params model that the mode class has defined

classmethod declared_transition_labels() → tuple[str, ...]

on_enter() → None

Logic executed when this mode is activated. Should include any initialization required for the mode.

on_exit() → None

Logic executed when this mode is deactivated. Should include any cleanup required for the mode.

abstractmethod on_update(time_delta: float) → None

Periodic logic executed while the mode is active. This should implement the mode’s core behavior.

Parameters:

time_delta (float) – Time in seconds since the last update.

abstractmethod check_status() → str

Check if the mode should deactivate.

activate() → None

Activate the mode. Calls the on_enter method.

deactivate() → None

Deactivate the mode. Calls the on_exit method.

update(time_delta: float) → None

Update the mode if it is active. Calls the on_update method.

Parameters:

time_delta (float) – Time in seconds since the last update.

log(message: str) → None

Log a message using the ROS 2 node’s logger.

Parameters:

message (str) – The message to log.