kompass.components.motion_server

Module Contents

Classes

MotionServerConfig	MotionServer config parameters
MotionServer	MotionServer component used for automatic testing by sending reference commands and recording resulting motion.

API

class kompass.components.motion_server.MotionServerConfig

Bases: kompass.config.ComponentConfig

MotionServer config parameters

class kompass.components.motion_server.MotionServer(*, component_name: str, config: Optional[kompass.components.motion_server.MotionServerConfig] = None, config_file: Optional[str] = None, robot_cmd_topic: Optional[kompass.components.ros.Topic] = None, robot_odom_topic: Optional[kompass.components.ros.Topic] = None, callback_group: Optional[rclpy.callback_groups.CallbackGroup] = None, **kwargs)

Bases: kompass.components.component.Component

MotionServer component used for automatic testing by sending reference commands and recording resulting motion.

Input Topics:

• run: Run tests on start
  Default Topic(name="/run_tests", msg_type="Bool")

• robot_command: Control command.
  Default Topic(name="/cmd_vel", msg_type="Twist")

Output Topics:

• command: Control Command
  Default Topic(name="/control", msg_type="Twist")

Note

Topic for ‘Control Command’ is both in MotionServer inputs and outputs:

• The output is used when running automated testing (i.e. sending the commands directly from the MotionServer).

• The input is used to purely record motion and control from external sources (example: recording output from Controller).

• Different command topics can be configured for the input and the output. For example: to test the DriveManager, the control command from MotionServer output can be sent to the DriveManager, then the DriveManager output can be configured as the MotionServer input for recording.

Available Run Types:

Set directly from MotionServer ‘run_type’ property.

• TIMED: Launches an automated test periodically after start.

• EVENT: Launches automated testing when a trigger ir received on RUN input.

• ACTIONSERVER: Offers a MotionRecording ROS action to record motion for location and control commands topics for given recording period.

Usage Example:

custom_on_configure()

init_variables() → None

init_variables.

main_action_callback(goal_handle: kompass_interfaces.action.MotionRecording.Goal) → kompass_interfaces.action.MotionRecording.Result

Execute motion recording action

Parameters:

goal_handle (MotionRecording.Goal) – Action goal

Returns:

Action result

Return type:

MotionRecording.Result

run_motion_response_tests(msg, **_) → None

Run a set of tests to record the robot motion response Used for robot model calibration

generate_basic_ctr_tests(number_of_steps: int) → List[Dict]

Generates a ser of basic tests

Parameters:

number_of_steps (int) – Number of time steps in each test

Returns:

Constructed tests

Return type:

list[dict]

send_test(test: numpy.ndarray, test_name: str, number_steps: int) → bool

Send a new motion recording test to the robot cmd topic

Parameters:

• test (np.ndarray) – Set of control commands

• test_name (str) – Name of the test

• number_steps (int) – Test control time steps

Returns:

Test processed

Return type:

bool

property robot: kompass.config.RobotConfig

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)

config_from_file(config_file: str)

property odom_tf_listener: Optional[ros_sugar.tf.TFListener]

property scan_tf_listener: ros_sugar.tf.TFListener

property depth_tf_listener: ros_sugar.tf.TFListener

property pc_tf_listener: ros_sugar.tf.TFListener

get_transform_listener(src_frame: str, goal_frame: str) → ros_sugar.tf.TFListener

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