### Installation

Source: https://aerostack2.github.io/_03_aerial_platforms/_multirotor_simulator/index.html

Instructions for installing the Multirotor simulator platform.

```APIDOC
## Installation

* For binary installation, install by running:

```bash
sudo apt install ros-humble-as2-platform-multirotor-simulator
```

* For source installation, clone Aerostack2 repository into your workspace and build it. See it in Aerostack2 installation guide.
```

--------------------------------

### Install Prerequisites

Source: https://aerostack2.github.io/_02_examples/index.html

Installs necessary tools like tmux, tmuxinator, and iputils-ping for organized execution and network testing.

```bash
sudo apt install tmux tmuxinator iputils-ping -y

```

--------------------------------

### Clone DJI PSDK Project

Source: https://aerostack2.github.io/_02_examples/dji/project_dji_psdk/index.html

Clone the PSDK project repository to your local machine. This is the first step to start using the examples.

```bash
git clone https://github.com/aerostack2/project_dji_psdk

```

--------------------------------

### Install DJI Tello Platform via Binary

Source: https://aerostack2.github.io/_03_aerial_platforms/_ryze_tello/index.html

Use this command for a standard binary installation on a ROS 2 Humble environment.

```bash
sudo apt install ros-humble-as2-platform-tello
```

--------------------------------

### Install DJI Tello Platform from Source

Source: https://aerostack2.github.io/_03_aerial_platforms/_ryze_tello/index.html

Clone the repository into a workspace and build it using colcon. Ensure rosdep dependencies are installed before building.

```bash
# If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
git clone git@github.com:aerostack2/as2_platform_tello.git
cd ~/aerostack2_ws
rosdep install as2_platform_tello --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_tello
```

--------------------------------

### Install Aerostack2 Gazebo Platform

Source: https://aerostack2.github.io/_03_aerial_platforms/_gazebo_simulation/index.html

Installs the binary package for the Aerostack2 Gazebo platform.

```bash
sudo apt install ros-humble-as2-platform-gazebo
```

--------------------------------

### Setup ArUco Detection Behavior

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Performs initial setup for the ArUco marker detection behavior.

```cpp
void setup()
```

--------------------------------

### Crazyflie Configuration YAML Example

Source: https://aerostack2.github.io/_03_aerial_platforms/_crazyflie/index.html

Example YAML configuration file for mapping Crazyflie URIs to namespaces, used for launching the platform.

```yaml
cf0:
    uri: radio://0/80/2M/E7E7E7E700
cf1:
    uri: radio://0/80/2M/E7E7E7E701

```

--------------------------------

### Install Multirotor Simulator via Binary

Source: https://aerostack2.github.io/_03_aerial_platforms/_multirotor_simulator/index.html

Command to install the Multirotor Simulator platform package using the apt package manager.

```bash
sudo apt install ros-humble-as2-platform-multirotor-simulator
```

--------------------------------

### Geozones Setup Node

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Sets up the Geozones node.

```cpp
void setupNode()
```

--------------------------------

### Install Aerostack2 Gazebo Assets

Source: https://aerostack2.github.io/_03_aerial_platforms/_gazebo_simulation/index.html

Installs the binary package for Aerostack2 simulation assets.

```bash
sudo apt install ros-humble-as2-gazebo-assets
```

--------------------------------

### Install Required Development Tools

Source: https://aerostack2.github.io/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html

Install essential ROS 2 development tools and Python linters using apt-get.

```bash
apt-get install python3-rosdep python3-pip python3-colcon-common-extensions python3-colcon-mixin ros-dev-tools -y
apt-get install python3-flake8-builtins python3-flake8-comprehensions python3-flake8-docstrings python3-flake8-import-order python3-flake8-quotes -y

```

--------------------------------

### Test device-mode setup

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Manually executes the startup script to verify the configuration.

```bash
cd /opt/nvidia/l4t-usb-device-mode/
./nv-l4t-usb-device-mode-start.sh
```

--------------------------------

### Start Simulated Mission

Source: https://aerostack2.github.io/_02_examples/pixhawk/project_px4_vision/index.html

Starts the mission execution for the simulated environment. Ensure you are in the project's root folder.

```python
python3 mission.py -s

```

--------------------------------

### Install Gazebo Harmonic ROS Package

Source: https://aerostack2.github.io/_03_aerial_platforms/_gazebo_simulation/index.html

Installs the required ROS package for Gazebo Harmonic integration.

```bash
sudo apt install ros-humble-ros-gzharmonic
```

--------------------------------

### Install all Aerostack2 packages

Source: https://aerostack2.github.io/_00_getting_started/binary_install.html

Installs the complete suite of Aerostack2 packages available for ROS2 Humble.

```bash
sudo apt install ros-humble-aerostack2
```

--------------------------------

### Install platform package via apt

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Installs the platform package using the system package manager.

```bash
sudo apt install ros-humble-as2-platform-dji-psdk
```

--------------------------------

### Install Aerostack2 DJI OSDK Package (Binary)

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_osdk/index.html

Installs the Aerostack2 DJI OSDK platform package using apt for binary installations. Ensure you have ROS Humble installed.

```bash
sudo apt install ros-humble-as2-platform-dji-osdk
```

--------------------------------

### Install PySimpleGUI

Source: https://aerostack2.github.io/_06_user_interfaces/_keyboard_teleoperation/index.html

Use this command to install the PySimpleGUI package, which is a dependency for the keyboard teleoperation interface.

```bash
pip install PySimpleGUI-4-foss
```

--------------------------------

### Install specific platform packages

Source: https://aerostack2.github.io/_00_getting_started/binary_install.html

Installs individual platform-specific packages for supported drone hardware.

```bash
sudo apt install ros-humble-as2-platform-crazyflie
sudo apt install ros-humble-as2-platform-tello
sudo apt install ros-humble-as2-platform-mavlink
sudo apt install ros-humble-as2-platform-pixhawk
sudo apt install ros-humble-as2-platform-dji-osdk
sudo apt install ros-humble-as2-platform-dji-psdk
```

--------------------------------

### Start Mission

Source: https://aerostack2.github.io/_02_examples/dji/project_dji_psdk/index.html

Execute the mission script to start the mission. This command initiates the mission sequence.

```python
python3 mission.py

```

--------------------------------

### Clone configuration repository

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Initial step to download the necessary configuration files for the PSDK setup.

```bash
cd ~
git clone git@github.com:aerostack2/psdk_config_files.git
cd psdk_config_files
```

--------------------------------

### Launch the ground station

Source: https://aerostack2.github.io/_02_examples/tello/project_tello/index.html

Starts the ground station components.

```bash
./launch_ground_station.bash
```

--------------------------------

### Start FollowPath Behavior

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/followpath_behavior.html

Starts the FollowPath behavior with a given path, speed, and yaw control parameters. Handles GoalRejected exceptions by logging a warning.

```python
def start(self, path: Union[list, tuple, Path, GeoPath, PoseWithID],
              speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
              wait_result: bool = True) -> bool:
        """Start behavior."""
        goal_msg = FollowPath.Goal()
        goal_msg.header.stamp = self.__drone.get_clock().now().to_msg()
        goal_msg.header.frame_id = frame_id
        goal_msg.path = self.__get_path(path)
        yaw_msg = YawMode()
        yaw_msg.angle = yaw_angle
        yaw_msg.mode = yaw_mode
        goal_msg.yaw = yaw_msg
        goal_msg.max_speed = speed
        try:
            return super().start(goal_msg, wait_result)
        except self.GoalRejected as err:
            self.__drone.get_logger().warn(str(err))
        return False
```

--------------------------------

### Replace system device-mode script

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Installs a custom startup script and ensures it has execution permissions.

```bash
sudo cp ./nv-l4t-usb-device-mode-start.sh \
   /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-start.sh
chmod +x ./nv-l4t-usb-device-mode-start.sh
```

--------------------------------

### Start GoToWaypoint Behavior

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/go_to_behavior.html

Starts the GoToWaypoint behavior, commanding the drone to navigate to a target pose. Handles 'GoalRejected' exceptions.

```python
def start(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped], speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
              wait_result: bool = True) -> bool:
        """Start behavior."""
        goal_msg = GoToWaypoint.Goal()
        pose_stamped = self.__get_pose(pose)
        goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg()
        goal_msg.target_pose.header.frame_id = frame_id
        goal_msg.target_pose.point.x = pose_stamped.position.x
        goal_msg.target_pose.point.y = pose_stamped.position.y
        goal_msg.target_pose.point.z = pose_stamped.position.z

        goal_msg.max_speed = speed
        goal_msg.yaw.mode = yaw_mode
        if yaw_angle:
            goal_msg.yaw.angle = yaw_angle

        try:
            return super().start(goal_msg, wait_result)
        except self.GoalRejected as err:
            self.__drone.get_logger().warn(str(err))
        return False
```

--------------------------------

### Module Docstring and Header Example

Source: https://aerostack2.github.io/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html

Example of a standard Python module docstring and header, including author, copyright, license, and version information.

```python
"""Module docstring."""

__authors__ = 'Author'
__copyright__ = 'Copyright (c) 2024 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
__version__ = '0.1.0'


```

--------------------------------

### Plugin Setup Override

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Overrides the base class's on_setup method. This function is called during the plugin's setup phase and should contain initialization logic.

```cpp
inline virtual void on_setup() override
    {
    }

```

--------------------------------

### Source Installation of Crazyflie Platform Package

Source: https://aerostack2.github.io/_03_aerial_platforms/_crazyflie/index.html

Steps to clone, install dependencies, and build the as2-platform-crazyflie package from source within a ROS 2 workspace.

```bash
# If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
git clone git@github.com:aerostack2/as2_platform_crazyflie.git
cd ~/aerostack2_ws
rosdep install as2_platform_crazyflie --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_crazyflie

```

--------------------------------

### Start GoToBehavior

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/go_to_behavior.html

Initiates the GoToBehavior to move the drone to a specified target pose.

```APIDOC
## POST /GoToBehavior/start

### Description
Starts the navigation behavior to a target waypoint.

### Method
POST

### Parameters
#### Request Body
- **pose** (tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped]) - Required - The target destination.
- **speed** (float) - Required - Maximum speed for the movement.
- **yaw_mode** (int) - Required - Mode for yaw control.
- **yaw_angle** (float) - Optional - Specific yaw angle.
- **frame_id** (str) - Optional - Reference frame (default: 'earth').
- **wait_result** (bool) - Optional - Whether to wait for completion (default: True).

### Response
#### Success Response (200)
- **result** (bool) - Returns True if the behavior started successfully.
```

--------------------------------

### Start Takeoff Behavior

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/takeoff_behavior.html

Starts the takeoff behavior with a specified height and speed. Optionally waits for the result. Handles GoalRejected exceptions.

```python
def start(self, height: float, speed: float, wait_result: bool = True) -> bool:
        """Start behavior."""
        goal_msg = Takeoff.Goal()
        goal_msg.takeoff_height = float(height)
        goal_msg.takeoff_speed = float(speed)

        try:
            return super().start(goal_msg, wait_result)
        except self.GoalRejected as err:
            self.__drone.get_logger().warn(str(err))
        return False
```

--------------------------------

### Launch Aerostack2 components

Source: https://aerostack2.github.io/_02_examples/tello/project_tello/index.html

Starts the Aerostack2 instance in a tmux session.

```bash
./launch_as2.bash
```

--------------------------------

### Manage Aerostack2 Projects

Source: https://aerostack2.github.io/_09_development/_cli/index.html

Commands to list available projects or install a specific project.

```bash
as2 project list
```

```bash
as2 project as2_project
```

--------------------------------

### Implement on_setup method for State Estimator

Source: https://aerostack2.github.io/_09_development/_tutorials/_tutorials/estimator_plugin.html

Overrides the on_setup method to initialize subscribers and publish static transforms.

```cpp
void on_setup() override {
    mocap_pose_sub_ = node_ptr_->create_subscription<geometry_msgs::msg::PoseStamped>(
        as2_names::topics::ground_truth::pose, as2_names::topics::ground_truth::qos,
        std::bind(&Plugin::mocap_pose_callback, this, std::placeholders::_1));

    geometry_msgs::msg::TransformStamped map_to_odom =
        as2::tf::getTransformation(get_map_frame(), get_odom_frame(), 0, 0, 0, 0, 0, 0);
    publish_static_transform(map_to_odom);

    has_earth_to_map_ = false;
}
```

--------------------------------

### Source ROS 2 Environment

Source: https://aerostack2.github.io/_00_getting_started/source_install.html

Sources the ROS 2 environment setup script. This is necessary if ROS 2 was installed via Debian packages to ensure the environment variables are correctly set before building Aerostack2.

```bash
source /opt/ros/<ros2-distro>/setup.bash

```

--------------------------------

### Export plugin description in CMakeLists.txt

Source: https://aerostack2.github.io/_09_development/_tutorials/_tutorials/estimator_plugin.html

Uses the pluginlib_export_plugin_description_file function to install the plugin description.

```cmake
pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)
```

--------------------------------

### Install ROS 2 Package for Crazyflie

Source: https://aerostack2.github.io/_03_aerial_platforms/_crazyflie/index.html

Installs the Aerostack2 Crazyflie platform package using apt for binary installations.

```bash
sudo apt install ros-humble-as2-platform-crazyflie

```

--------------------------------

### Download bulk-mode reference package

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Downloads and prepares the bulk-mode configuration files.

```bash
wget https://terra-1-g.djicdn.com/71a7d383e71a4fb8887a310eb746b47f/psdk/e-port/usb-bulk-configuration-reference.zip \
  && unzip usb-bulk-configuration-reference.zip -d startup_bulk \
  && mv startup_bulk/ ~/Desktop/ \
  && chmod +x ~/Desktop/startup_bulk/*
```

--------------------------------

### Install ROS 2 Dependencies

Source: https://aerostack2.github.io/_00_getting_started/source_install.html

Installs essential packages required for ROS 2 development, including git, python3-rosdep, python3-pip, and colcon extensions. Run this command before proceeding with Aerostack2 installation.

```bash
sudo apt install git python3-rosdep python3-pip python3-colcon-common-extensions -y

```

--------------------------------

### Start Polynomial Trajectory Generation

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/trajectory_generation_behavior.html

Starts the trajectory generation behavior. It constructs a goal message with path, speed, and yaw parameters, then calls the superclass start method. Catches GoalRejected exceptions and logs a warning.

```python
def start(self, path: Union[list, tuple, Path, PoseWithID, PoseStampedWithID], 
              speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
              wait_result: bool = True) -> bool:
        """Start behavior."""
        goal_msg = GeneratePolynomialTrajectory.Goal()
        goal_msg.stamp = self.__drone.get_clock().now().to_msg()
        goal_msg.path = self.__get_path(path, frame_id)
        yaw_msg = YawMode()
        yaw_msg.angle = yaw_angle
        yaw_msg.mode = yaw_mode
        goal_msg.yaw = yaw_msg
        goal_msg.max_speed = speed
        try:
            return super().start(goal_msg, wait_result)
        except self.GoalRejected as err:
            self.__drone.get_logger().warn(str(err))
        return False
```

--------------------------------

### Create Action Client

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Initializes the action client for the specified action name.

```cpp
inline void createActionClient(const std::string &action_name)
```

--------------------------------

### Start Mission

Source: https://aerostack2.github.io/_modules/as2_python_api/mission_interpreter/mission_interpreter.html

Starts a mission in a separate thread. Returns false if a mission is already in progress.

```python
    def start_mission(self, mid: int, idx: int) -> bool:
        """Start mission in different thread."""
        if self.exec_thread:
            self._logger.warning('Mission being performed, start not allowed')
            return False
        self.mission = mid
        self.mission_stack.point_to_item(idx)
        self.exec_thread = Thread(target=self.__perform_mission)
        self.exec_thread.start()
        return True
```

--------------------------------

### Launch Force Estimation Behavior (Autostart)

Source: https://aerostack2.github.io/_04_robot_behaviors/param_estimation/force_estimation/index.html

Launches the force estimation behavior node and automatically starts the estimation process immediately.

```bash
ros2 launch as2_behaviors_param_estimation force_estimation_behavior_auto_launch.py

```

--------------------------------

### Execute Mission

Source: https://aerostack2.github.io/_modules/as2_python_api/mission_interpreter/ros2_adapter.html

Loads and immediately starts a mission. This is a convenience function that combines loading and starting.

```python
def execute_callback(self, mid: int, mission: Mission):
        """Load and start mission."""
        self.interpreter.reset(mid, mission)
        self.start_callback(mid)
```

--------------------------------

### Implement GazeboPlatform Constructor

Source: https://aerostack2.github.io/_09_development/_tutorials/_tutorials/aerial_platform.html

Initializes the platform by declaring ROS 2 parameters and creating publishers for velocity commands and arming state.

```cpp
GazeboPlatform::GazeboPlatform() : as2::AerialPlatform() {
    this->declare_parameter<std::string>("cmd_vel_topic");  // Reading topic from launch argument
    std::string cmd_vel_topic_param = this->get_parameter("cmd_vel_topic").as_string();

    this->declare_parameter<std::string>("arm_topic");  // Reading topic from launch argument
    std::string arm_topic_param = this->get_parameter("arm_topic").as_string();

    twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>(cmd_vel_topic_param, rclcpp::QoS(1));
    arm_pub_ = this->create_publisher<std_msgs::msg::Bool>(arm_topic_param, rclcpp::QoS(1));
}
```

--------------------------------

### Go To Behavior File Includes

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Includes for the go to behavior file.

```cpp
#include “ go_to_behavior/go_to_behavior.hpp”
#include “rclcpp_components/register_node_macro.hpp”
```

--------------------------------

### Install DJI PSDK Platform from Source

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Commands to clone the repository into an existing Aerostack2 workspace, resolve dependencies, and build the package.

```bash
cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
git clone git@github.com:aerostack2/as2_platform_dji_psdk.git
cd ~/aerostack2_ws
rosdep install as2_platform_dji_psdk --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_dji_psdk
```

--------------------------------

### Enable device-mode service

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Enables the custom device-mode service to run on system startup.

```bash
sudo systemctl enable /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode.service
```

--------------------------------

### Behavior Server Implementation Includes

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Includes for behavior server implementation and header files.

```cpp
#include “ as2_behavior/__detail/behavior_server__class.hpp”
```

```cpp
#include “ as2_behavior/__impl/behavior_server__impl.hpp”
```

--------------------------------

### Install cpplint using pip

Source: https://aerostack2.github.io/_09_development/_develop_guide/_develop_guide/_setting_code.html

Install the cpplint tool using pip for code analysis. This command should be run in the terminal.

```bash
pip install --user cpplint
```

--------------------------------

### Go To Behavior Implementation Includes

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Includes for the go to behavior trajectory plugin implementation.

```cpp
#include “ as2_core/utils/frame_utils.hpp”
#include “as2_msgs/action/generate_polynomial_trajectory.hpp”
#include “as2_msgs/msg/pose_with_id.hpp”
#include “as2_msgs/msg/yaw_mode.hpp”
#include “ go_to_behavior/go_to_base.hpp”
#include “rclcpp/rclcpp.hpp”
#include “rclcpp_action/rclcpp_action.hpp”
#include <pluginlib/class_list_macros.hpp>
```

--------------------------------

### Get Origin Service Callback

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Callback function for the GetOrigin service. It is invoked when a request to get the current origin is received.

```cpp
inline void getOriginCallback(const as2_msgs::srv::GetOrigin::Request::SharedPtr request, as2_msgs::srv::GetOrigin::Response::SharedPtr response)
    {
    }

```

--------------------------------

### Behavior Client and Server Source Includes

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Source file includes for behavior client and server.

```cpp
#include “behavior_client.hpp”
```

```cpp
#include “ behavior_server.hpp”
```

--------------------------------

### Clone the project repository

Source: https://aerostack2.github.io/_02_examples/tello/project_tello/index.html

Initial step to download the project source code.

```bash
git clone https://github.com/aerostack2/project_dji_tello
```

--------------------------------

### Launch DJI Tello Platform

Source: https://aerostack2.github.io/_03_aerial_platforms/_ryze_tello/index.html

Start the platform node using the provided launch file, specifying the drone namespace.

```bash
ros2 launch as2_platform_tello tello_platform.launch.py namespace:=drone0
```

--------------------------------

### Get Origin Service Server Member

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Shared pointer to the service server for getting the origin. This member manages the GetOrigin service.

```cpp
rclcpp::Service<as2_msgs::srv::GetOrigin>::SharedPtr get_origin_srv_;

```

--------------------------------

### Initialize DummyModule

Source: https://aerostack2.github.io/_modules/as2_python_api/modules/dummy_module.html

Initializes the DummyModule, setting up its alias and initial stopped state.

```python
def __init__(self, drone: 'DroneInterface') -> None:
        super().__init__(drone, self.__alias__)
        self.stopped = False
```

--------------------------------

### Install docformatter for PEP 257 Compliance

Source: https://aerostack2.github.io/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.html

Install the docformatter tool using pip to help with PEP 257 docstring style checks.

```bash
pip install --upgrade docformatter

```

--------------------------------

### Start Mission Execution

Source: https://aerostack2.github.io/_modules/as2_python_api/mission_interpreter/ros2_adapter.html

Initiates a mission on the interpreter, ensuring the drone is armed and in offboard mode before starting. Handles cases where no mission is loaded.

```python
def start_callback(self, mid: int, item_id: int = 0):
        """Start mission on interpreter."""
        try:
            # TODO: where to arm and offboard? Avoid calling interpreter.drone property directly
            if not self.interpreter._drone.info['armed']:
                self.interpreter._drone.arm()
            if not self.interpreter._drone.info['offboard']:
                self.interpreter._drone.offboard()
            self.get_logger().info(f'Starting mission: {mid}')
            self.interpreter.start_mission(mid, item_id)
        except AttributeError:
            self.get_logger().error('Trying to start mission but no mission is loaded.')
```

--------------------------------

### Setup Pose Transforms

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Sets up the necessary transforms for pose and odometry data based on device translation and rotation.

```cpp
void setupPoseTransforms(const std::array<double, 3> &device_t, const std::array<double, 3> &device_r)
```

--------------------------------

### Implement Takeoff Behavior Server

Source: https://aerostack2.github.io/_09_development/_tutorials/_tutorials/behavior.html

Example implementation of a Takeoff behavior inheriting from as2_behavior::BehaviorServer, demonstrating lifecycle method overrides.

```cpp
TakeOffBehavior() : as2_behavior::BehaviorServer<as2_msgs::action::TakeOff>(as2_names::actions::behaviors::takeoff) {
    platform_takeoff_cli_ = node_ptr_->create_client<std_srvs::srv::SetBool>(as2_names::services::platform::takeoff);
    platform_takeoff_request_ = std::make_shared<std_srvs::srv::SetBool::Request>();
    platform_takeoff_request_->data = true;
    return;
}

bool on_activate(std::shared_ptr<const as2_msgs::action::TakeOff::Goal> goal) override {
    platform_takeoff_future_ = platform_takeoff_cli_->async_send_request(platform_takeoff_request_);

    if (!platform_takeoff_future_.valid()) {
        RCLCPP_ERROR(node_ptr_->get_logger(), "Request could not be sent");
        return false;
    }
    return true;
}

bool on_modify(
    std::shared_ptr<const as2_msgs::action::TrajectoryGenerator::Goal> goal)
    override;

bool on_deactivate(const std::shared_ptr<std::string> &message) override {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff can not be cancelled");
    return false;
}

bool on_pause(const std::shared_ptr<std::string> &message) override {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff can not be paused");
    return false;
}

bool on_resume(const std::shared_ptr<std::string> &message) override {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff can not be resumed");
    return false;
}

as2_behavior::ExecutionStatus on_run(const std::shared_ptr<const as2_msgs::action::TrajectoryGenerator::Goal> &goal,
                                    std::shared_ptr<as2_msgs::action::TrajectoryGenerator::Feedback> &feedback_msg,
                                    std::shared_ptr<as2_msgs::action::TrajectoryGenerator::Result> &result_msg) override {
    if (platform_takeoff_future_.valid() && platform_takeoff_future_.wait_for(std::chrono::seconds(0)) == std::future_status::ready) {
        auto result = platform_takeoff_future_.get();
        if (result->success) {
            result_.takeoff_success = true;
            return as2_behavior::ExecutionStatus::SUCCESS;
        } else {
            result_.takeoff_success = false;
            return as2_behavior::ExecutionStatus::FAILURE;
        }
    }
    return as2_behavior::ExecutionStatus::RUNNING;
}

void on_execution_end(const as2_behavior::ExecutionStatus &state) override {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff end");
    return;
}
```

--------------------------------

### Set Origin on Start Flag

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Boolean flag indicating whether the origin should be set automatically upon starting the node. If true, the origin will be set using available data.

```cpp
bool set_origin_on_start_ = false;

```

--------------------------------

### GoTo Behavior Parameters and Action Node

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Structures for GoTo plugin parameters and the Behavior Tree action node implementation.

```cpp
struct go_to_plugin_params
```

```cpp
double go_to_speed = 0.0
```

```cpp
double go_to_threshold = 0.0
```

```cpp
class GoToAction : public as2_behavior_tree::BtActionNode<as2_msgs::action::GoToWaypoint>
```

```cpp
GoToAction(const std::string &xml_tag_name, const BT::NodeConfiguration &conf)
```

```cpp
virtual void on_tick()
```

```cpp
void on_wait_for_result(std::shared_ptr<const as2_msgs::action::GoToWaypoint::Feedback> feedback)
```

```cpp
static inline BT::PortsList providedPorts()
```

--------------------------------

### Install Aerostack2 DJI OSDK Package (Source)

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_osdk/index.html

Installs the Aerostack2 DJI OSDK platform package from source. This involves cloning the repository, resolving dependencies, and building the package within your ROS 2 workspace.

```bash
# If you have installed Aerostack2 from sources we recommend to clone the package in the src folder of your workspace otherwise you can clone it in any ROS 2 workspace you want.
cd ~/aerostack2_ws/src/aerostack2/as2_aerial_platforms
git clone git@github.com:aerostack2/as2_platform_dji_osdk.git
cd ~/aerostack2_ws
rosdep install as2_platform_dji_osdk --from-paths src --ignore-src -r -y
colcon build --packages-up-to as2_platform_dji_osdk
```

--------------------------------

### Clone Aerostack2 and Install Dependencies

Source: https://aerostack2.github.io/_00_getting_started/source_install.html

Creates a new workspace, clones the Aerostack2 repository into the 'src' directory, and then uses rosdep to install binary dependencies for the Aerostack2 packages. Ensure your ROS 2 environment is sourced before running.

```bash
mkdir -p ~/aerostack2_ws/src/ && cd ~/aerostack2_ws/src/
git clone https://github.com/aerostack2/aerostack2.git
cd ~/aerostack2_ws
sudo rosdep init
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src

```

--------------------------------

### POST /mission/start

Source: https://aerostack2.github.io/_modules/as2_python_api/mission_interpreter/mission_interpreter.html

Starts a mission in a separate thread.

```APIDOC
## POST /mission/start

### Description
Starts the execution of a mission identified by its ID starting at a specific index.

### Method
POST

### Parameters
#### Request Body
- **mid** (int) - Required - Mission ID
- **idx** (int) - Required - Starting index

### Response
#### Success Response (200)
- **result** (bool) - Returns True if the mission started successfully, False otherwise.
```

--------------------------------

### Initialize GoToBehavior

Source: https://aerostack2.github.io/_modules/as2_python_api/behavior_actions/go_to_behavior.html

Initializes the GoToBehavior with a drone interface. Handles potential 'BehaviorNotAvailable' exceptions.

```python
def __init__(self, drone: 'DroneInterfaceBase') -> None:
        self.__drone = drone

        try:
            super().__init__(drone, GoToWaypoint, 'GoToBehavior')
        except self.BehaviorNotAvailable as err:
            self.__drone.get_logger().warn(str(err))
```

--------------------------------

### Launch DJI PSDK Platform and Wrapper

Source: https://aerostack2.github.io/_03_aerial_platforms/_dji_psdk/index.html

Commands to launch the platform and the required ROS 2 PSDK wrapper.

```bash
ros2 launch as2_platform_dji_psdk as2_platform_dji_psdk.launch.py
```

```bash
ros2 launch as2_platform_dji_psdk psdk_wrapper.launch.py
```

--------------------------------

### Launch Ground Station

Source: https://aerostack2.github.io/_02_examples/multirotor_simulator/project_multirotor_simulator/index.html

Execute this command from the root of the project to launch the ground station. Use the -h flag for available customization options.

```bash
./launch_ground_station.bash

```

--------------------------------

### Get Desired Torque

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Retrieves the desired torque vector.

```APIDOC
## const Vector3 &get_desired_torque

### Description
Get the desired torque.

### Method
Not applicable (inline function)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **Desired torque** (const Vector3&) - Desired torque (N m)

### Response Example
```json
{
  "desired_torque": [0.0, 0.0, 0.0]
}
```
```

--------------------------------

### Get Desired Thrust

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Retrieves the desired thrust vector.

```APIDOC
## const Vector3 &get_desired_thrust

### Description
Get the desired thrust.

### Method
Not applicable (inline function)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **Desired thrust** (const Vector3&) - Desired thrust (N)

### Response Example
```json
{
  "desired_thrust": [0.0, 0.0, 0.0]
}
```
```

--------------------------------

### Get Inertia Matrix

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Retrieves the inertia matrix of the system.

```APIDOC
## const Matrix3 &get_inertia

### Description
Get the inertia.

### Method
Not applicable (inline function)

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **Inertia matrix** (Matrix3) - Inertia matrix (kg m^2)

### Response Example
```json
{
  "inertia": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
}
```
```

--------------------------------

### Main Function for Adapter Node

Source: https://aerostack2.github.io/_modules/as2_python_api/mission_interpreter/ros2_adapter.html

Sets up argument parsing for the adapter node, allowing configuration of the namespace.

```python
def main():
    """Run node."""
    parser = argparse.ArgumentParser()
    parser.add_argument('--n', type=str, default='drone0',
                        help='Namespace')
```

--------------------------------

### GET /as2_msgs/srv/GetGeozone

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Service callback to retrieve geozone information.

```APIDOC
## GET /as2_msgs/srv/GetGeozone

### Description
Callback function to handle requests for retrieving geozone data.

### Method
GET

### Request Body
- **request** (as2_msgs::srv::GetGeozone::Request) - Required - The service request object.

### Response
- **response** (as2_msgs::srv::GetGeozone::Response) - The service response object containing geozone details.
```

--------------------------------

### as2_python_api.tools.utils.get_module_call_signature

Source: https://aerostack2.github.io/_09_development/_api_documentation/temp_ws/src/as2_python_api/docs/source/as2_python_api.tools.html

Gets the call signature of a given module name.

```APIDOC
## get_module_call_signature

### Description
Get call method signature from given module name.

### Method
N/A (Python function)

### Parameters
- **_module_name** (str) - The name of the module to inspect.

### Return Value
Signature - The call signature of the module.
```

--------------------------------

### List Aerostack2 Packages

Source: https://aerostack2.github.io/_09_development/_cli/index.html

Command to display all installed Aerostack2 packages.

```bash
as2 list
```

--------------------------------

### Setup Camera Configuration

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Configures a specific camera sensor with stream type, encoding, and camera model information.

```cpp
void setupCamera(const std::shared_ptr<as2::sensors::Camera> &_camera, const rs2_stream _rs2_stream, const std::string _encoding, const std::string _camera_model)
```

--------------------------------

### GET /get_platform_status

Source: https://aerostack2.github.io/_09_development/_api_documentation/aerostack2/aerostack2/docs/index.html

Retrieves the current status of the platform state machine.

```APIDOC
## GET /get_platform_status

### Description
Returns the current state of the platform state machine.

### Method
GET

### Endpoint
/get_platform_status

### Response
#### Success Response (200)
- **state** (as2_msgs::msg::PlatformStatus) - The current status of the platform.
```