kompass.callbacks

Callback classes used to process input topics data for supported types in Kompass

Module Contents

Classes

OdomCallback	ROS2 Odometry Callback Handler to get the robot state in 2D
PointCallback	ROS2 Pose Callback Handler to get the robot state in 2D
PointStampedCallback	ROS2 Pose Callback Handler to get the robot state in 2D
PoseCallback	ROS2 Pose Callback Handler to get the robot state in 2D
PoseStampedCallback	ROS2 PoseStamped Callback Handler to get the robot state in 2D
CameraInfoCallback	ROS2 Image Callback Handler to process sensor_msgs/CameraInfo data
LaserScanCallback	ROS2 LaserScan Callback Handler to process and transform sensor_msgs/LaserScan data
PointCloudCallback	ROS2 PointCloud Callback Handler to process and transform sensor_msgs/PointCloud2 data

API

class kompass.callbacks.OdomCallback(input_topic, node_name: Optional[str] = None, get_front: Optional[bool] = False, robot_radius: Optional[float] = None)

Bases: ros_sugar.io.OdomCallback

ROS2 Odometry Callback Handler to get the robot state in 2D

property get_front: Optional[bool]

get_front.

Return type:

Optional[bool]

class kompass.callbacks.PointCallback(input_topic, node_name: Optional[str] = None, get_front: Optional[bool] = False, robot_radius: Optional[float] = None)

Bases: ros_sugar.io.PointCallback

ROS2 Pose Callback Handler to get the robot state in 2D

class kompass.callbacks.PointStampedCallback(input_topic, node_name: Optional[str] = None, get_front: Optional[bool] = False, robot_radius: Optional[float] = None)

Bases: kompass.callbacks.PointCallback

ROS2 Pose Callback Handler to get the robot state in 2D

class kompass.callbacks.PoseCallback(input_topic, node_name: Optional[str] = None, get_front: Optional[bool] = False, robot_radius: Optional[float] = None)

Bases: ros_sugar.io.PoseCallback

ROS2 Pose Callback Handler to get the robot state in 2D

class kompass.callbacks.PoseStampedCallback(input_topic, node_name: Optional[str] = None, get_front: Optional[bool] = False, robot_radius: Optional[float] = None)

Bases: kompass.callbacks.PoseCallback

ROS2 PoseStamped Callback Handler to get the robot state in 2D

class kompass.callbacks.CameraInfoCallback(input_topic, node_name: Optional[str] = None)

Bases: ros_sugar.io.GenericCallback

ROS2 Image Callback Handler to process sensor_msgs/CameraInfo data

class kompass.callbacks.LaserScanCallback(input_topic, node_name: Optional[str] = None, transformation: Optional[tf2_ros.TransformStamped] = None)

Bases: ros_sugar.io.GenericCallback

ROS2 LaserScan Callback Handler to process and transform sensor_msgs/LaserScan data

property transformation: Optional[tf2_ros.TransformStamped]

Getter of the laserscan transformation

Returns:

Frame transformation

Return type:

Optional[TransformStamped]

class kompass.callbacks.PointCloudCallback(input_topic, node_name: Optional[str] = None)

Bases: ros_sugar.io.GenericCallback

ROS2 PointCloud Callback Handler to process and transform sensor_msgs/PointCloud2 data

property field_type: Optional[kompass_cpp.types.PointFieldType]

Getter of the point cloud fields datatype (from the X field)

Returns:

Data type

Return type:

Optional[PointFieldType]