Behavior¶
The behavior layer, as shipped, is a safety executive: it watches the health of the running stack and issues safety commands when something goes wrong. High-level mission sequencing does not live here — task goals (takeoff, land, explore, navigate) are sent by the operator from the GCS to the task executors hosted in the global and local layers; see System Architecture — Task Cascade.
Launch¶
Behavior modules ship their own canonical launch files and are composed by
the selected stack's entry launch file, e.g.
ros2 launch drone_safety_monitor drone_safety_monitor.launch.xml — see
stacks/full_default/launch/stack.launch.xml for the composed wiring.
Modules¶
drone_safety_monitor(robot/ros_ws/src/behavior/drone_safety_monitor) — the safety executive: watches the state estimate for timeouts and issues safety commands. It runs onboard so the robot can failsafe even if every ground link is lost.
Key Interchanges¶
safety(§9) — the safety executive's onboard-only topics (state_estimate_timed_out,command); these may never cross a split-stack bridgetasks/*(§8) — where mission-level goals actually enter the stack