---
orphan: true
---

# {py:mod}`kompass.components.controller`

```{py:module} kompass.components.controller
```

```{autodoc2-docstring} kompass.components.controller
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`CmdPublishType <kompass.components.controller.CmdPublishType>`
  - ```{autodoc2-docstring} kompass.components.controller.CmdPublishType
    :summary:
    ```
* - {py:obj}`ControllerConfig <kompass.components.controller.ControllerConfig>`
  - ```{autodoc2-docstring} kompass.components.controller.ControllerConfig
    :summary:
    ```
* - {py:obj}`Controller <kompass.components.controller.Controller>`
  - ```{autodoc2-docstring} kompass.components.controller.Controller
    :summary:
    ```
````

### API

````{py:class} CmdPublishType
:canonical: kompass.components.controller.CmdPublishType

Bases: {py:obj}`kompass.utils.StrEnum`

```{autodoc2-docstring} kompass.components.controller.CmdPublishType
```

````

````{py:class} ControllerConfig
:canonical: kompass.components.controller.ControllerConfig

Bases: {py:obj}`kompass.config.ComponentConfig`

```{autodoc2-docstring} kompass.components.controller.ControllerConfig
```

````

`````{py:class} Controller(*, component_name: str, config_file: typing.Optional[str] = None, config: typing.Optional[kompass.components.controller.ControllerConfig] = None, inputs: typing.Optional[typing.Dict[kompass.components.defaults.TopicsKeys, kompass.components.ros.Topic]] = None, outputs: typing.Optional[typing.Dict[kompass.components.defaults.TopicsKeys, kompass.components.ros.Topic]] = None, **kwargs)
:canonical: kompass.components.controller.Controller

Bases: {py:obj}`kompass.components.component.Component`

```{autodoc2-docstring} kompass.components.controller.Controller
```

````{py:method} custom_on_activate()
:canonical: kompass.components.controller.Controller.custom_on_activate

```{autodoc2-docstring} kompass.components.controller.Controller.custom_on_activate
```

````

````{py:method} custom_create_all_subscribers()
:canonical: kompass.components.controller.Controller.custom_create_all_subscribers

```{autodoc2-docstring} kompass.components.controller.Controller.custom_create_all_subscribers
```

````

````{py:method} create_all_timers()
:canonical: kompass.components.controller.Controller.create_all_timers

```{autodoc2-docstring} kompass.components.controller.Controller.create_all_timers
```

````

````{py:method} destroy_all_timers()
:canonical: kompass.components.controller.Controller.destroy_all_timers

```{autodoc2-docstring} kompass.components.controller.Controller.destroy_all_timers
```

````

````{py:method} create_all_services()
:canonical: kompass.components.controller.Controller.create_all_services

```{autodoc2-docstring} kompass.components.controller.Controller.create_all_services
```

````

````{py:method} destroy_all_services()
:canonical: kompass.components.controller.Controller.destroy_all_services

```{autodoc2-docstring} kompass.components.controller.Controller.destroy_all_services
```

````

````{py:property} tracked_point
:canonical: kompass.components.controller.Controller.tracked_point
:type: typing.Optional[numpy.ndarray]

```{autodoc2-docstring} kompass.components.controller.Controller.tracked_point
```

````

````{py:property} local_plan
:canonical: kompass.components.controller.Controller.local_plan
:type: typing.Optional[nav_msgs.msg.Path]

```{autodoc2-docstring} kompass.components.controller.Controller.local_plan
```

````

````{py:property} local_plan_debug
:canonical: kompass.components.controller.Controller.local_plan_debug
:type: typing.Optional[nav_msgs.msg.Path]

```{autodoc2-docstring} kompass.components.controller.Controller.local_plan_debug
```

````

````{py:property} interpolated_path
:canonical: kompass.components.controller.Controller.interpolated_path
:type: typing.Optional[nav_msgs.msg.Path]

```{autodoc2-docstring} kompass.components.controller.Controller.interpolated_path
```

````

````{py:property} direct_sensor
:canonical: kompass.components.controller.Controller.direct_sensor
:type: bool

```{autodoc2-docstring} kompass.components.controller.Controller.direct_sensor
```

````

````{py:property} algorithm
:canonical: kompass.components.controller.Controller.algorithm
:type: kompass_core.control.ControllersID

```{autodoc2-docstring} kompass.components.controller.Controller.algorithm
```

````

````{py:method} set_algorithm(algorithm_value: typing.Union[str, kompass_core.control.ControllersID], **_) -> bool
:canonical: kompass.components.controller.Controller.set_algorithm

```{autodoc2-docstring} kompass.components.controller.Controller.set_algorithm
```

````

````{py:method} init_variables()
:canonical: kompass.components.controller.Controller.init_variables

```{autodoc2-docstring} kompass.components.controller.Controller.init_variables
```

````

````{py:method} main_action_callback(goal_handle) -> typing.Union[kompass_interfaces.action.ControlPath.Result, kompass_interfaces.action.TrackVisionTarget.Result]
:canonical: kompass.components.controller.Controller.main_action_callback

```{autodoc2-docstring} kompass.components.controller.Controller.main_action_callback
```

````

````{py:method} reached_point(goal_point: typing.Optional[kompass_core.models.RobotState]) -> bool
:canonical: kompass.components.controller.Controller.reached_point

```{autodoc2-docstring} kompass.components.controller.Controller.reached_point
```

````

`````