About Plugins
What is a plugin, you may ask? Simply put, a plugin is a ROS2 package designed to add new functionality that doesn't need to run constantly, unlike the tello_driver. Plugins are optional components that can be dynamically controlled by the behavior tree (robot_bt), enabling flexible and modular task execution.
The core idea of plugins is their ability to work together seamlessly, allowing for different types of functionality to be combined to achieve complex tasks. For example:
- A default plugin shipped with the system is a hand gesture detector, which interprets gestures and converts them into drone commands.
- Another example could be a person follower plugin, where the drone autonomously tracks and follows a person.
In the future, the selection of which plugin to run can be configured using a behavior tree and a configuration file, making the system even more adaptable.
How To Create a Plugin
As mentioned, a plugin is just a ROS2 package. You can create a new package under the plugins folder or import your own pre-existing package.
When developing your plugin, you need to use the plugin_base package. This package provides a base class (PluginNode) for implementing plugins.
Check the Getting Started Section for more details on how to use it.
Frequently Asked Questions
Does my plugin need to have all its nodes based on PluginNode?
No. If you have a main node that handles input and produces output, and your other nodes depend on its data, you do not need to base all nodes on PluginNode. Only the node interacting with the behavior tree (robot_bt) requires this.
When does my node strictly require the use of PluginNode?
If you want your node to be controlled by the behavior tree (robot_bt), you must base it on PluginNode. This ensures compatibility and control integration.