🐝 Nectarefa

A ROS 2 autonomous drone mission package built with YASMIN state machines and Nectar SDK for drone control.

The drone initializes, takes off, navigates to a starting position, flies a square path, returns to launch, and lands — all orchestrated through a finite state machine.

State Machine

INITIALIZE ──succeed──▶ TAKEOFF ──succeed──▶ GOTOFST ──succeed──▶ DOSQUARE
    │                      │                    │                    │
  abort                  abort                abort                abort
    │                      │                    │                    │
    ▼                      ▼                    ▼                    ▼
   END              RETURN_TO_LAUNCH ◀──────────┴────────────────────┘
                           │
                        succeed
                           │
                           ▼
                          END ──succeed──▶ (done)

State	Description
INITIALIZE	Creates the drone instance via DroneFactory using MAVROS
TAKEOFF	Arms, sets home, and takes off to the configured altitude
GOTOFST	Navigates to the initial position (INITPOSX, INITPOSY)
DOSQUARE	Flies a square path with side length LINESIZE using relative moves
RETURN_TO_LAUNCH	Returns to the launch position at RTL_ALTITUDE
END	Lands the drone and finishes the mission

Dependencies

• ROS 2 (Humble / Jazzy)
• YASMIN — state machine framework
• Nectar SDK — drone control abstraction over MAVROS

Installation

Clone into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/your-user/nectarefa.git
git clone https://github.com/uleroboticsgroup/yasmin.git
# Also clone nectar-sdk if not already present

Build:

cd ~/ros2_ws
colcon build --packages-select nectarefa --symlink-install
source install/setup.bash

Usage

Default parameters

ros2 run nectarefa mangalarga

Custom starting position and square size

ros2 run nectarefa mangalarga --initposx 1.0 --initposy -1.0 --linesize 3.0

Simulation mode (SITL / Gazebo)

Set the NECTAREFA_SIM environment variable before launching:

NECTAREFA_SIM=1 ros2 run nectarefa mangalarga

CLI Arguments

Argument	Type	Default	Description
--initposx	float	0.5	Initial X position for the square path
--initposy	float	-0.5	Initial Y position for the square path
--linesize	float	1.5	Side length of the square (meters)

Project Structure

nectarefa/
├── package.xml
├── setup.py
├── setup.cfg
└── nectarefa/
    ├── __init__.py
    ├── mangalarga.py        # Main entry point & state machine definition
    ├── constants.py          # Mission parameters & CLI argument parsing
    └── states/
        ├── __init__.py
        ├── basicstates.py    # Initialize, Takeoff, ReturnToLaunch, End
        └── navigation.py    # GoToFst, DoSquare

License

Licensed under the Apache License 2.0.

Author

Arthur Xavier — arthuraxribeiro@gmail.com