kompass.config

Configuration classes for a Component and a robot in Kompass

Module Contents

Classes

RobotFrames	Class for robot coordinate frames configuration
RobotConfig	Class for robot configuration (type, model, limitations, etc.)
ComponentConfig	KOMPASS Component extended parameters

API

class kompass.config.RobotFrames

Bases: ros_sugar.config.BaseAttrs

Class for robot coordinate frames configuration

Frame	Default	Description
world	“map”	Reference world frame
robot_base	“base_link”	Robot base link frame
odom	“odom”	Robot odometry frame
scan	“base_link”	LaseScan sensor base frame
rgb	“camera_link”	RGB camera base frame
depth	“camera_depth_link”	Depth camera base frame

class kompass.config.RobotConfig

Bases: ros_sugar.config.BaseAttrs

Class for robot configuration (type, model, limitations, etc.)

Name	Type, Default	Description
model_type	RobotType | str, ACKERMANN	Robot motion model type
geometry_type	RobotGeometry.Type | str, CYLINDER	Robot 3D geometry shape type
geometry_type	np.ndarray, [0.2, 1.0]	Robot 3D geometry shape parameters
ctrl_vx_limits	LinearCtrlLimits	Forward linear velocity (x-direction) control limits parameters
ctrl_omega_limits	AngularCtrlLimits	Angular velocity control limits parameters
ctrl_vy_limits	LinearCtrlLimits	Lateral linear velocity (y-direction) control limits parameters

validate_params(_, value)

Validates geometry parameters against geometry type

class kompass.config.ComponentConfig

Bases: ros_sugar.config.BaseComponentConfig

KOMPASS Component extended parameters

Name	Type, Default	Description
robot	RobotConfig, RobotConfig()	Robot configuration parameters. See RobotConfig class for details.
frames	RobotFrames, RobotFrames()	Robot TF frames configuration. See RobotFrames class for details.
topic_subscription_timeout	float, 20.0	Timeout when waiting for an input topic to become available (s)
topic_try_wait_timeout	float, 0.1	Time interval when waiting for input topic to become available (s)
topic_try_wait_timeout	float, 0.1	Time interval when waiting for input topic to become available (s)
core_log_level	str, LoggingSeverity.WARN	Debug level for the component core algorithm