kompass.components.mapper

Module Contents

Classes

LocalMapperConfig	LocalMapperConfig parameters
LocalMapper	This component is responsible for generating this local map during the navigation.

API

class kompass.components.mapper.LocalMapperConfig

Bases: kompass.config.ComponentConfig

LocalMapperConfig parameters

class kompass.components.mapper.LocalMapper(*, component_name: str, config_file: Optional[str] = None, config: Optional[kompass.components.mapper.LocalMapperConfig] = None, inputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, outputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, **kwargs)

Bases: kompass.components.component.Component

This component is responsible for generating this local map during the navigation.

Note

Current implementation supports LaserScan sensor data to create an Occupancy Grid local map. PointCloud and semantic information will be supported in an upcoming release

Available Run Types

Set directly from LocalMapper ‘run_type’ property.

Timed

Produces a local map periodically if all inputs are available

Inputs

Key	Description	Accepted Types	Number of Topics	Default Value
location	Robot current location	Odometry, PoseWithCovariance, Pose	1	Topic(name="/odom", msg_type="Odometry")
sensor_data	Direct sensor input	LaserScan	1	Topic(name="/scan", msg_type="LaserScan")

Outputs

Key	Description	Accepted Types	Default Value
local_map	Local occupancy map	OccupancyGrid	Topic(name="/scan", msg_type="LaserScan")

Usage Example:

    from kompass_core.mapping import LocalMapperConfig
    from kompass.components import LocalMapper, MapperConfig

    # Select map parameters
    map_params = MapperConfig(width=5.0, height=5.0, resolution=0.2) # 5mX5m map with 0.2m/cell resolution

    # Setup custom component configuration
    my_config = LocalMapperConfig(loop_rate=10.0, map_params=map_params)

    # Init a mapper
    my_mapper = LocalMapper(component_name="mapper", config=my_config)

init_variables()

Overwrites the init variables method called at Node init

publish_data()

Publish layers and obstacles mapped from LocalMapper

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