Interfaces¶

The installed Python package is svea_core; import the public interfaces with:

from svea_core.interfaces import ActuationInterface, LocalizationInterface, ShowMarker, ShowPath

Declare these resources as fields on an rx.Node, as in the static path follower. Rosonic starts them with their owning node.

Interface	Current behavior
`ActuationInterface`	`send_control(steering, vel_or_acc)` accepts radians and m/s by default; `use_acceleration=True` changes the second input to acceleration. Commands are published periodically to the relative `mavros/manual_control/send` topic.
`LocalizationInterface`	Subscribes to relative `odometry/local`, transforms pose to `map` and twist to the configured base frame, and returns `(x, y, yaw, velocity)` from `get_state()`.
`ShowMarker`	Publishes visualization markers, including a goal marker through `place()`.
`ShowPath`	Publishes a path through `publish_path(xs, ys)`.

Localization parameters are localization/map_frame, localization/base_frame, and localization/odom_top; defaults are map, self/base_link, and odometry/local. Match the base frame to your vehicle namespace. For mocap, see the driver integration guide.

See the interface sources for signatures and docstrings. The physical RC and firmware safety mechanisms remain necessary; the actuation interface is not itself a deadman controller.