kompass.components.defaults

Default configuration for Kompass stack components. Defining the default input and output topics, as well as the allowed topic message types for each component in Kompass. It serves as a centralized configuration resource to ensure consistent topic usage and enforce compatibility of message types.

This module is typically used during the initialization of Kompass components to apply a standard set of topic configurations, enabling faster prototyping and reliable system behavior out-of-the-box.

Module Contents

Classes

TopicsKeys

Enum representing unique keys corresponding to standard input/output topic roles.

API

class kompass.components.defaults.TopicsKeys

Bases: kompass.utils.StrEnum

Enum representing unique keys corresponding to standard input/output topic roles.

Key	Name	Description
GOAL_POINT	goal_point	Target destination point on the map for the robot point navigation
GLOBAL_PLAN	plan	Global navigation plan (path) from start to goal
GLOBAL_MAP	map	Global (reference) map used for navigation
ROBOT_LOCATION	location	Current position and orientation of the robot
SPATIAL_SENSOR	sensor_data	Raw data from robot’s spatial sensors (e.g., LIDAR, depth sensors)
VISION_TRACKINGS	vision_tracking	Visual tracking data from robot’s cameras or vision systems
DEPTH_CAM_INFO	depth_camera_info	Depth camera information which includes camera intrinsics parameters
LOCAL_PLAN	local_plan	Short-term path plan considering immediate surroundings
INTERMEDIATE_CMD	command	Robot velocity command produced by the control system
INTERMEDIATE_CMD_LIST	multi_command	List of intermediate velocity commands
LOCAL_MAP	local_map	Map of the immediate surroundings for local navigation (control)
LOCAL_MAP_OCC	local_map	Occupancy grid representation of the local environment
INTERPOLATED_PATH	interpolation	Interpolated global path
TRACKED_POINT	tracked_point	Specific point being tracked by the robot’s systems on the reference path of reference vision target
FINAL_COMMAND	robot_command	Final control command sent to robot’s driver
EMERGENCY	emergency_stop	Emergency stop signal for immediate robot halt
REACHED_END	reached_end	Flag indicating whether the goal point has been reached
RUN_TESTS	run_tests	Flag to initiate system test procedures