kompass.ros

Inputs/Outputs configuration classes

Module Contents

Classes

QoSConfig	Class for quality of service (QoS) configuration in ROS2
Topic	Class for ROS topic configuration (name, type and QoS)

API

class kompass.ros.QoSConfig

Bases: ros_sugar.config.QoSConfig

Class for quality of service (QoS) configuration in ROS2

Name	Type, Default	Description
history	int, [qos](https://docs.ros2.org/foxy/api/rclpy/api/qos.html).HistoryPolicy.KEEP_LAST	Sample store type: ALL or LAST (up to N samples, configurable via the queue depth option)
queue_size	int, 10	Used only if the “history” policy was set to “keep last”
reliability	int, qos.ReliabilityPolicy.RELIABLE	Level of reliability in delivering samples
durability	int, qos.DurabilityPolicy.VOLATILE	Determines if the publisher will be persisting samples for “late-joining” subscriptions (Transit Local) or not (Volatile)

class kompass.ros.Topic

Bases: ros_sugar.io.Topic

Class for ROS topic configuration (name, type and QoS)

Name	Type, Default	Description
name	str	Topic name
msg_type	type | str	Topic message type, can be provided as a ‘type’ or the type name as a string
qos_profile	QoSConfig | Dict, QoSConfig()	QoS (Quality of Service) configuration