`kompass.components.controller`¶

Module Contents¶

Classes¶

`CmdPublishType`	Control command publishing method:
`ControllerConfig`	Controller component configuration parameters
`Controller`	Controller component used for path tracking and control around dynamic obstacles during navigation.

API¶

class kompass.components.controller.CmdPublishType¶

Bases: kompass.utils.StrEnum

Control command publishing method:

Value	Description
TWIST_SEQUENCE (Literal “Sequence”)	the controller publishes a Twist message in the same thread running the control algorithm. If a series of commands is computed (up to the control horizon), the controller publishes the commands one by one before running the control algorithm again
TWIST_PARALLEL (Literal “Parallel”)	the controller handles publishing a Twist message in a new thread. If a series of commands is computed (up to the control horizon), the controller publishes the commands one by one in parallel while running the control algorithm again
TWIST_ARRAY (Literal “Array”)	the controller publishes a TwistArray msg of all the computed control commands (up to the control horizon)

class kompass.components.controller.ControllerConfig¶

Bases: kompass.config.ComponentConfig

Controller component configuration parameters

Name	Type, Default	Description
algorithm	`ControllersID\| str`, `DWA`	Algorithm used to compute the control command
control_time_step	`float`, `0.1`	Time step in MPC-like controllers (s)
debug	`bool`, `False`	Turn on debug mode to published additional data for visualization
use_direct_sensor	`bool`, `False`	To used direct sensor information, otherwise the node subscriber to a local map
ctrl_publish_type	`CmdPublishType \| str`, `TWIST_ARRAY`	How to publish the control commands

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

Bases: kompass.components.component.Component

Controller component used for path tracking and control around dynamic obstacles during navigation.

Inputs:

Key Name	Allowed Types	Number	Default
plan	`nav_msgs.msg.Path`	1	`Topic(name="/plan", msg_type="Path")`
location	`nav_msgs.msg.Odometry`, `geometry_msgs.msg.PoseStamped`, `geometry_msgs.msg.Pose`	1	`Topic(name="/odom", msg_type="Odometry")`
sensor_data	`sensor_msgs.msg.LaserScan`, `sensor_msgs.msg.PointCloud2`	1	`Topic(name="/scan", msg_type="LaserScan")`
local_map	`nav_msgs.msg.OccupancyGrid`	1	`Topic(name="/local_map/occupancy_layer", msg_type="OccupancyGrid")`
vision_tracking	`automatika_embodied_agents.msg.Trackings`, `automatika_embodied_agents.msg.Detections2D`	1	`Topic(name="/trackings", msg_type="Trackings")`

Outputs:

Key Name	Allowed Types	Number	Default
command	`geometry_msgs.msg.Twist`	1	`Topic(name="/control", msg_type="Twist")`
multi_command	`kompass_interfaces.msg.TwistArray`	1	`Topic(name="/control_list", msg_type="TwistArray")`
interpolation	`nav_msgs.msg.Path`	1	`Topic(name="/interpolated_path", msg_type="Path")`
local_plan	`nav_msgs.msg.Path`	1	`Topic(name="/local_path", msg_type="Path")`
tracked_point	`nav_msgs.msg.Odometry`, `geometry_msgs.msg.PoseStamped`, `geometry_msgs.msg.Poseautomatika_embodied_agents.msg.Detection2D`	1	`Topic(name="/tracked_point", msg_type="PoseStamped")`

Available Run Types:

Set directly from Controller ‘run_type’ property.

TIMED: Compute a new control command periodically if all inputs are available.
ACTIONSERVER: Offers a ControlPath ROS action and continuously computes a new control once an action request is received until goal point is reached

Usage Example:

from kompass.components import ControllerConfig, Controller
from kompass.topic import Topic

# Setup custom configuration
my_config = ControllerConfig(loop_rate=10.0)

# Init a controller object
my_controller = Controller(component_name="controller", config=my_config)

# Change an input
my_controller.inputs(plan=Topic(name='/global_path', msg_type='Path'))

# Change run type (default "Timed")
my_controller.run_type = "ActionServer"

# Change plugin
my_controller.plugin = 'DWA'

custom_on_activate()¶: Component custom activation method to add activation based on the control mode

custom_create_all_subscribers()¶: Overrides BaseComponent create_all_subscribers to implement controller mode change

create_all_timers()¶: Overrides create_all_timers from BaseComponent to add timers for commands execution and tracking publishing

destroy_all_timers()¶: Overrides destroy_all_timers from BaseComponent to destroy the timers for commands execution and tracking publishing

create_all_services()¶: Creates all node services

destroy_all_services()¶: Destroys all node services

property tracked_point: Optional[numpy.ndarray]¶

Getter of tracked pose on the reference path if a path is set to the controller

Returns:: description
Return type:: StrEnum

property local_plan: Optional[nav_msgs.msg.Path]¶

Getter of controller local plan

Returns:: description
Return type:: StrEnum

property local_plan_debug: Optional[nav_msgs.msg.Path]¶

Getter of controller local plan debug (collected samples)

Returns:: description
Return type:: StrEnum

property interpolated_path: Optional[nav_msgs.msg.Path]¶

Getter of interpolated global path

Returns:: Path Interpolation
Return type:: Optional[Path]

property direct_sensor: bool¶

Getter of flag to use direct sensor data in the controller, if False the controller uses the local map

Returns:: Use direct sensor data flag
Return type:: bool

property algorithm: kompass_core.control.ControllersID¶

Getter of controller algorithm

Returns:: description
Return type:: StrEnum

set_algorithm(algorithm_value: Union[str, kompass_core.control.ControllersID], **_) → bool¶

Component action - Set controller algorithm action

Parameters:: algorithm_value (Union[str, ControllersID]) – algorithm value
Raises:: Exception – Exception while updating algorithm value
Returns:: Success
Return type:: bool

init_variables()¶: Overwrites the init variables method called at Node init

main_action_callback(goal_handle) → Union[kompass_interfaces.action.ControlPath.Result, kompass_interfaces.action.TrackVisionTarget.Result]¶

Executes the selected control action

Parameters:: goal_handle (ControlPath | TrackVisionTarget) – Action request
Returns:: Action result
Return type:: Union[ControlPath.Result, TrackVisionTarget.Result]

reached_point(goal_point: Optional[kompass_core.models.RobotState]) → bool¶

Checks if the current robot state is close to a given goal point

Parameters:

goal_point (RobotState | None) – Goal point
tolerance (PathTrackingError) – Tolerance to goal

Returns:

If the distance to the goal is less than the given tolerance

Return type:

bool

kompass.components.controller¶

Module Contents¶

Classes¶

API¶

`kompass.components.controller`¶