Kompass CLI¶

Inspect core algorithms and hardware support.

The Kompass CLI provides a quick way to inspect available algorithms, view default parameters, and check for compatible hardware accelerators (GPUs) directly from the terminal without launching the full stack.

Command Reference¶

Algorithm Inspection¶

Commands to query the available Planner and Controller plugins.

Command	Description
`controller list`	List all available control algorithms (e.g., `DWA`, `Stanley`).
`controller params <algo>`	Show the default configuration parameters for a specific control algorithm.
`planner list`	List all available planning algorithms (e.g., `RRTstar`, `PRM`).
`planner params <algo>`	Show the default configuration parameters for a specific planning algorithm.

System & Hardware¶

Commands to check the host system capabilities.

Command	Description
`accelerators_support`	List all SYCL-compatible devices (GPUs/CPUs) detected on the system. Useful for verifying if the Local Mapper can use hardware acceleration.
`info`	Display generic CLI usage examples and links to documentation.

Usage Examples¶

Run these commands using the standard ros2 run syntax:

# 1. View Help
ros2 run kompass cli --help

# 2. Check for GPU Support
ros2 run kompass cli accelerators_support

# 3. List available Controllers
ros2 run kompass cli controller list

# 4. Inspect DWA Parameters
ros2 run kompass cli controller params DWA

# 5. Inspect AITstar Planner Parameters
ros2 run kompass cli planner params AITstar