Description of task

Since both reference filter and los work with only one waypoint at a time, having a dedicated node to feed waypoints can be nice if there are several waypoints. It is suggested that the waypoint manager will be an action server, so that new goals, cancelling etc is easy to handle. The manager will receive a list of waypoints of the Waypoints type as well as the target action server (reference filter or los) and switching treshold through an Action, and feed out one waypoint at a time. When the drone's distance to the waypoint is less than the treshold, the next waypoint should be sent.

Suggested Workflow

• Define the action type
• Implement
• Test
• Implement and test with the GUI (with plotting)

Specifications

• Works 👍

Contacts

• @Andeshog

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)