Takeoff Landing Planner¶

Overview¶

The TakeoffLandingPlanner provides ROS 2 action servers for takeoff and landing maneuvers. It monitors the robot's state, generates trajectory overrides to reach the target altitude (takeoff) or ground (landing), and tracks completion via position and time thresholds.

Features¶

Trajectory-based takeoff to a configurable target altitude and velocity
Trajectory-based landing with on-ground detection, followed by automatic disarm
Configurable takeoff trajectory direction (roll/pitch, absolute or body-relative)
Precondition checking: rejects goals when state estimate is timed out or a task is already running
Publishes is_airborne for downstream consumers (e.g. the RViz Tasks Panel)

Topics¶

Subscriptions¶

Topic	Type	Description
`odometry`	`nav_msgs/Odometry`	Robot pose and velocity
`tracking_point`	`airstack_msgs/Odometry`	Current trajectory tracking point
`trajectory_completion_percentage`	`std_msgs/Float32`	Trajectory completion (0–100) from trajectory_controller
`is_armed`	`std_msgs/Bool`	Vehicle arm status
`has_control`	`std_msgs/Bool`	Offboard control acquired
`state_estimate_timed_out`	`std_msgs/Bool`	Whether the state estimate has timed out
`extended_state`	`mavros_msgs/ExtendedState`	MAVROS landed state (used to publish `is_airborne`)

Publications¶

Topic	Type	Description
`trajectory_override`	`airstack_msgs/TrajectoryXYZVYaw`	Takeoff/landing trajectory sent to trajectory_controller
`is_airborne`	`std_msgs/Bool`	True when `landed_state == LANDED_STATE_IN_AIR`

Service Clients¶

Service	Type	Description
`set_trajectory_mode`	`airstack_msgs/TrajectoryMode`	Switch trajectory controller mode
`robot_command`	`airstack_msgs/RobotCommand`	Arm, request offboard control, disarm

Action Servers¶

Action	Type	Description
`~/takeoff_task`	`task_msgs/TakeoffTask`	Execute a takeoff maneuver
`~/land_task`	`task_msgs/LandTask`	Execute a landing maneuver

TakeoffTask¶

Goal

Field	Type	Description
`target_altitude_m`	float32	Target altitude in meters
`velocity_m_s`	float32	Ascent velocity in m/s

Feedback

Field	Type	Description
`status`	string	Human-readable status message
`current_altitude_m`	float32	Current altitude in meters
`target_altitude_m`	float32	Target altitude in meters

Result

Field	Type	Description
`success`	bool	Whether takeoff succeeded
`message`	string	Outcome description

LandTask¶

Goal

Field	Type	Description
`velocity_m_s`	float32	Descent velocity in m/s

Feedback

Field	Type	Description
`status`	string	Human-readable status message
`current_altitude_m`	float32	Current altitude in meters

Result

Field	Type	Description
`success`	bool	Whether landing succeeded
`message`	string	Outcome description

Parameters¶

Parameter	Type	Default	Description
`takeoff_velocity`	float	1.0	Default ascent velocity in m/s
`landing_velocity`	float	0.3	Default descent velocity in m/s
`takeoff_acceptance_distance`	float	0.3	Distance threshold to consider target altitude reached (m)
`takeoff_acceptance_time`	float	1.0	Time that must be spent within acceptance distance (s)
`landing_stationary_distance`	float	0.02	Max movement to consider the drone stationary on landing (m)
`landing_acceptance_time`	float	5.0	Time the drone must remain stationary to confirm landing (s)
`landing_tracking_point_ahead_time`	float	5.0	Lookahead time for the landing tracking point
`takeoff_path_roll`	float	0.0	Roll offset for the takeoff trajectory (degrees)
`takeoff_path_pitch`	float	0.0	Pitch offset for the takeoff trajectory (degrees)
`takeoff_path_relative_to_orientation`	bool	false	Apply roll/pitch relative to the robot's current orientation

Dependencies¶

rclcpp / rclcpp_action
airstack_msgs
airstack_common
nav_msgs
mavros_msgs
std_msgs
task_msgs
trajectory_library