kompass.data_types

Supported data types for inputs/outputs

Module Contents

Classes

Detections	Adds callback for automatika_embodied_agents/msg/Detections2D message
Trackings	Adds callback for automatika_embodied_agents/msg/Trackings message
CameraInfo	Class to support ROS2 sensor_msgs/msg/CameraInfo message
LaserScan	Class to support ROS2 sensor_msgs/msg/LaserScan message
PointCloud2	Class to support ROS2 sensor_msgs/msg/PointCloud2 message
PointStamped	Class to support ROS2 geometry_msgs/msg/PointStamped message
Point	Class to support ROS2 geometry_msgs/msg/Point message
Pose	Class to support ROS2 geometry_msgs/msg/Pose message
PoseStamped	Class to support ROS2 geometry_msgs/msg/PoseStamped message
Odometry	Class to support ROS2 nav_msgs/msg/Odometry message
TwistStamped	Class to support ROS2 geometry_msgs/msg/TwistStamped message
TwistArray	Class to support ROS2 kompass_interfaces/msg/TwistArray message
Path	Class to support ROS2 nav_msgs/msg/Path message

API

class kompass.data_types.Detections

Bases: ros_sugar.supported_types.SupportedType

Adds callback for automatika_embodied_agents/msg/Detections2D message

class kompass.data_types.Trackings

Bases: ros_sugar.supported_types.SupportedType

Adds callback for automatika_embodied_agents/msg/Trackings message

class kompass.data_types.CameraInfo

Bases: ros_sugar.supported_types.SupportedType

Class to support ROS2 sensor_msgs/msg/CameraInfo message

class kompass.data_types.LaserScan

Bases: ros_sugar.supported_types.LaserScan

Class to support ROS2 sensor_msgs/msg/LaserScan message

classmethod convert(output: kompass_core.datatypes.LaserScanData, **_) → sensor_msgs.msg.LaserScan

Takes LaserScanData object and converts it to ROS LaserScan message

Returns:

LaserScan

class kompass.data_types.PointCloud2

Bases: ros_sugar.supported_types.SupportedType

Class to support ROS2 sensor_msgs/msg/PointCloud2 message

class kompass.data_types.PointStamped

Bases: ros_sugar.supported_types.PointStamped

Class to support ROS2 geometry_msgs/msg/PointStamped message

class kompass.data_types.Point

Bases: ros_sugar.supported_types.Point

Class to support ROS2 geometry_msgs/msg/Point message

class kompass.data_types.Pose

Bases: ros_sugar.supported_types.Pose

Class to support ROS2 geometry_msgs/msg/Pose message

class kompass.data_types.PoseStamped

Bases: ros_sugar.supported_types.PoseStamped

Class to support ROS2 geometry_msgs/msg/PoseStamped message

class kompass.data_types.Odometry

Bases: ros_sugar.supported_types.Odometry

Class to support ROS2 nav_msgs/msg/Odometry message

classmethod convert(output: kompass_core.models.RobotState, **_) → nav_msgs.msg.Odometry

Takes RobotState object and converts it to ROS Odometry message

Returns:

Odometry

class kompass.data_types.TwistStamped

Bases: ros_sugar.supported_types.Twist

Class to support ROS2 geometry_msgs/msg/TwistStamped message

classmethod convert(vx: float, vy: float, omega: float, **kwargs) → geometry_msgs.msg.TwistStamped

Converter to publish Twist data to TwistStamped

Parameters:

output (ROSTwist) – Twist message

Returns:

Twist stamped message

Return type:

ROSTwistStamped

class kompass.data_types.TwistArray

Bases: ros_sugar.supported_types.SupportedType

Class to support ROS2 kompass_interfaces/msg/TwistArray message

classmethod convert(output: kompass_interfaces.msg.TwistArray, **_)

convert.

Parameters:

• output (ROSTwistArray)

• kwargs

class kompass.data_types.Path

Bases: ros_sugar.supported_types.Path

Class to support ROS2 nav_msgs/msg/Path message

classmethod to_json(path: nav_msgs.msg.Path, json_file: str)

Saves a ROS nav_msg.msg.Path in a json file

Parameters:

• path (nav_msg.msg.Path) – ROS path message

• json_file (str) – Path to the saved file

classmethod from_json(json_file: str) → Union[nav_msgs.msg.Path, None]

Reads a given json file and parse a ROS nav_msgs.msg.Path if exists

Parameters:

json_file (str) – Path to the json file

Returns:

ROS path message

Return type:

Union[PathMsg, None]