[Aerial Robot Control] landing, halt command during vel acc-based mode

[HarukiKozukapenguin]

What is this

Debug in landing, halt command in XyControlMode =VEL_CONTROL_MODE, and ACC_CONTROL_MODE

Detail

• set POS_CONTROL_MODE when navigator get landing, halt topic
• setTargetAcc = 0 in setTargetXyFromCurrentState

[tongtybj]

@HarukiKozukapenguin

Very good!

Could you also add setXyControlMode(POS_CONTROL_MODE); in following parts:

• https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/6b211a201007ef4c022d2b5f7aff387b7be9882c/aerial_robot_control/src/flight_navigation.cpp#L409-L414
• https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/6b211a201007ef4c022d2b5f7aff387b7be9882c/aerial_robot_control/src/flight_navigation.cpp#L640-L643

[HarukiKozukapenguin]

I fixed.

[HarukiKozukapenguin]

I think we can solve this problem by setting setXyControlMode(POS_CONTROL_MODE); in call of setTargetXyFromCurrentState . Is there any comments of this solution?

[tongtybj]

I think we can solve this problem by setting setXyControlMode(POS_CONTROL_MODE); in call of setTargetXyFromCurrentState .　Is there any comments of this solution?

Execellent! LGTM

[HarukiKozukapenguin]

Could you merge thjs PR to master branch?

[tongtybj]

@HarukiKozukapenguin

Why you close this PR !?

[HarukiKozukapenguin]

Sorry. I closed because I mistakenly thought this PR has already merged to main branch. I found that this has not merged to main branch yet, so I reopened.