kompass.launcher

System Launcher extending the base Launcher in Sugarcoat🍬

Module Contents

Classes

Launcher

System Launcher extending the base Launcher in Sugarcoat🍬

API

class kompass.launcher.Launcher(namespace: str = '', config_file: Optional[str] = None, activation_timeout: Optional[float] = None, robot_plugin: Optional[str] = None, **kwargs)

Bases: ros_sugar.launch.launcher.Launcher

System Launcher extending the base Launcher in Sugarcoat🍬

kompass(components: List[kompass.components.component.Component], events_actions: Optional[Dict[ros_sugar.core.Event, Union[ros_sugar.core.Action, launch.action.Action, List[Union[ros_sugar.core.Action, launch.action.Action]]]]] = None, multiprocessing: bool = True, activate_all_components_on_start: bool = True, components_to_activate_on_start: Optional[List[kompass.components.component.Component]] = None, ros_log_level: Optional[str] = None, rclpy_log_level: Optional[str] = None)

Adds Kompass components to the launcher

Parameters:

  • components (List[Component]) – Kompass components

  • events_actions (Dict[ Event, Union[Action, ROSLaunchAction, List[Union[Action, ROSLaunchAction]]] ] | None, optional) – Events/actions dictionary, defaults to None

  • multi_processing (bool, optional) – Run components in multiple processes, defaults to True

  • activate_all_components_on_start (bool, optional) – Activate all components on start, defaults to True

  • components_to_activate_on_start (Optional[List[Component]], optional) – List of component to activate on start, defaults to None

  • ros_log_level (Optional[str], optional) – Components logging level, defaults to None

  • rclpy_log_level (Optional[str], optional) – RCLPY logging level, defaults to None

property robot: Dict[str, kompass.config.RobotConfig]

Getter of robot config for all components

Returns:

Robot configuration

Return type:

RobotConfig

property frames: Dict[str, kompass.config.RobotFrames]

Getter of robot frames for all components

Returns:

Robot frames configuration

Return type:

RobotFrames

inputs(**kwargs)

Update input in all components if exists

outputs(**kwargs)

Update output in all components if exists