Action

SKILL — uav_action

miuav 1d069e5 835 B Updated

File contents

SKILL — uav_action

无人机 Action 技能

Tools

  • action_server: ROS2 Action Server(rclcpp_action / rclpy_action)
  • nav2_action: Nav2 NavigateToPose / NavigateThroughPoses Action
  • waypoint_action: 航点到达确认 Action(等待目标 reached 超时处理)

Usage

ROS2 Action 异步任务接口,用于长时间任务:

  • Action Server 状态:GOACTIVE → PROCESSING → SUCCEEDED/ABORTED/CANCELED
  • 无人机任务:NavigateToPose(Nav2)→ 等待 feedback.pose 更新
  • 任务取消:rclcpp_action::ResultCode = CANCELED

Tips

  • Action 超时处理:goal_handle → expired 时触发 ABORTED
  • Nav2 Action feedback 提供实时位姿(可用于降落检测)
  • Action 的 cancel 接口需在 Server 端实现 CancelCallback

miuav/vibe-coding-ros2/tree/main/agents/skills/multi_rotor_uav/action commit 1d069e5a69

Frequently asked questions

npx skillmds@latest add miuav/action