iroc_mission_handler

ROS (Robot Operating System) action server component that implements drone flight control. Specifically, it handles requests to navigate a drone through a defined sequence of waypoints. It allows users to define a series of waypoints and then controls the drone to visit each point in order.

State machine

The state machine for the iroc_mission_handler is designed to manage the drone's flight path through a series of waypoints but taking into account the subtasks involved in reaching each trajectory final point.

---
title: State Machine Diagram
---
stateDiagram-v2
  [*] --> Idle
  Idle --> ML: Action server goal received
  ML --> Executing: Start mission service

  Finished --> Idle: Terminal action finished
  Executing --> Finished: No remaining segments

  Executing --> Paused: Pause mission service
  Paused --> Executing: Start mission service
  Executing --> Idle: Stop mission service
  Executing --> Executing: UAV is tracking trajectory

  state if_state <<choice>>
  Executing --> if_state: Segment finished
  if_state --> Executing: subtasks <= 0
  if_state --> subtask: subtasks > 0

  state subtask {
    [*] --> ST
    ST --> [*]: Subtask finished
    ST --> ST: Not finished
  }
  note right of subtask: Subtasks are initiated sequentially<br>but can run in parallel<br>if the subtask executor supports it.
  subtask --> Executing

  ML: Mission Loaded
  ST: Executing Subtask

Loading