task-manager

Each UAS has a task manager keeping track of all queued tasks. Perception is not a task at this time, because it does not conflict with other processes, so all perception begins at startup. In contrast, actions need to be ordered and deconflicted. Actions include:

• Takeoff and land
• Record on takeoff, save on land
• Navigate to waypoint
• Explore polygon
• Emergency behaviors (e.g., land, RTL, hover)

The task manager tracks UAS position and flight status to determine when actions are complete and then update the queue.

testing

To build with tests, run

catkin build --catkin-make-args run_tests

To run the tests, launch the respective test file with, e.g.,

rostest task_manager tests_hellodecco.launch

To see print statements at levels lower than WARN, use:

rostest task_manager tests_hellodecco.launch --text

Note that the drone state tests require ArduPilot to first be running in SITL. This can either be through Unreal/AirSim, or the simpler ArduPilot SITL. For the latter, in the ArduCopter directory run

../Tools/autotest/sim_vehicle.py -v ArduCopter

This must be restarted between tests. Wait for the message to print, ~"EKF using GPS", before launching the rostest.