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