`kompass.components.map_server`#

Module Contents#

Classes#

`MapServerConfig`	MapServer component configuration parameters
`MapServer`	MapServer component used for reading and converting map data from file to serve a global map. Supports both 2D maps with a YAML file and 3D maps with PCD files.

API#

class kompass.components.map_server.MapServerConfig#

Bases: kompass.config.ComponentConfig

MapServer component configuration parameters

Name	Type, Default	Description
map_file_read_rate	`float`, `0.0`	Rate to read and convert the map data from file. If zero, converts once.
pc_publish_row	`bool`, `True`	Publish the row point cloud data read from the file. Only applicable if input is `.pcd` file.
pc_frame	`Optional[str]`, `None`	Frame ID to use when publishing the point cloud data. If `None`, uses the world frame.
map_file_path	`Optional[str]`, `None`	Path to the map file.
custom_map_frame	`Optional[str]`, `None`	Custom frame ID for the map.
grid_resolution	`float`, `0.05`	Resolution of the occupancy grid if generating from point cloud.
z_ground_limit	`float`, `0.01`	Points below this height value are considered ground. Used only for point cloud input.

class kompass.components.map_server.MapServer(component_name: str, config_file: Optional[str] = None, config: Optional[kompass.components.map_server.MapServerConfig] = None, outputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, **kwargs)#

Bases: kompass.components.component.Component

MapServer component used for reading and converting map data from file to serve a global map. Supports both 2D maps with a YAML file and 3D maps with PCD files.

Outputs:

Key Name	Allowed Types	Number	Default
global_map	`nav_msgs.msg.OccupancyGrid`	1	`Topic(name="/map", msg_type="OccupancyGrid")` - Global map generated from input data.
spatial_sensor	`sensor_msgs.msg.PointCloud2`	1, optional	`Topic(name="/row_point_cloud", msg_type="PointCloud2")` - Row point cloud data for visualization or further processing.

Available Services:

Save2dMapToFile: Saves the 2D map to a file (YAML format).
Save3dMapToFile: Saves the 3D map to a file (PCD format).

Usage Example:

from kompass.components import MapServerConfig, MapServer
from kompass.ros import Topic

# Setup custom configuration
my_config = MapServerConfig(
        map_file_read_rate=5.0,
        map_file_path="/path/to/your/map.pcd",
        grid_resolution=0.1,
        pc_publish_row=False,
    )

# Init a MapServer object
my_map_server = MapServer(component_name="map_server", config=my_config)

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

create_all_timers()#: Create all node timers

create_all_services()#: Creates all node services

destroy_all_timers()#: Destroys all node timers

destroy_all_services()#: Destroys all node services

convert_map_from_file() → bool#: Convert the map from file to OccupancyGrid message

custom_on_configure()#

property robot: kompass.config.RobotConfig#

property robot_geometry_type: kompass_core.models.RobotGeometry.Type#

property robot_ctrl_limits: kompass_core.models.RobotCtrlLimits#

property run_type: kompass.config.ComponentRunType#

property inputs_keys: List[kompass.components.defaults.TopicsKeys]#

property outputs_keys: List[kompass.components.defaults.TopicsKeys]#

inputs(**kwargs)#

outputs(**kwargs)#

set_input(**kwargs) → bool#

set_output(**kwargs) → bool#

config_from_file(config_file: str)#

property odom_tf_listener: Optional[ros_sugar.tf.TFListener]#

transform_inputs_to(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: str, static_tf: bool = False) → None#

input_tf_listener(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: str, static_tf: bool = False) → Optional[ros_sugar.tf.TFListener]#

resolve_input_tf(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: Optional[str] = None, idx: int = 0) → Tuple[bool, Optional[tf2_ros.TransformStamped]]#

in_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]#

out_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]#

get_in_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]#

get_out_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]#

get_callback(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → Optional[kompass.callbacks.GenericCallback]#

get_publisher(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → ros_sugar.io.Publisher#

callbacks_inputs_check(inputs_to_check: Optional[List[str]] = None, inputs_to_exclude: Optional[List[str]] = None) → bool#

kompass.components.map_server#

Module Contents#

Classes#

API#

`kompass.components.map_server`#