`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

Supported sensor input is either ONE LaserScan topic or up to 11 PointCloud2 topics. Multiple point clouds (e.g. front + back 3D lidars) are fused into a single occupancy grid: each sensor’s mount transform is applied inside the core and free space is carved from each sensor’s own origin

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, PointCloud2`	1 to 11	`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.components import LocalMapper, LocalMapperConfig
    from kompass_core.mapping import MapConfig as 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, idx: int = 0) → 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]]#

wait_input_tf(topic_key: kompass.components.defaults.TopicsKeys, idx: int = 0, timeout: Optional[float] = None, static_tf: bool = True) → Optional[ros_sugar.tf.TFListener]#

wait_sensor_config(topic_key: kompass.components.defaults.TopicsKeys, idx: int = 0, timeout: Optional[float] = None) → Optional[kompass_cpp.types.SensorConfig]#

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.mapper#

Module Contents#

Classes#

API#

`kompass.components.mapper`#