CLI Tool Reference

Kompass ships a command-line tool for inspecting available algorithms and their parameters. It is installed as a ROS 2 executable.

Usage

ros2 run kompass kompass_cli <command> [subcommand] [args]

Commands

controller list

Lists all available control algorithms registered in kompass_core:

ros2 run kompass kompass_cli controller list

Available control algorithms:
- Stanley
- DWA
- DVZ
- VisionRGBFollower
- VisionRGBDFollower
- PurePursuit

These names correspond to ControllersID enum values and can be passed directly to ControllerConfig(algorithm="...").

controller params <algorithm>

Displays default configuration parameters for a control algorithm:

ros2 run kompass kompass_cli controller params DWA

Parameters for 'DWA' Controller in Kompass:
------------------------
Name: Default Value
control_time_step: 0.1
max_linear_samples: 20
max_angular_samples: 20
prediction_horizon: 1.0
control_horizon: 0.2
octree_resolution: 0.1
...

The output shows all attrs fields from the algorithm’s config class (e.g. DWAConfig), with their default values. Use these names as keys in your YAML/TOML configuration files.

planner list

Lists all available planning algorithms from OMPL Geometric Planners:

ros2 run kompass kompass_cli planner list

Available planning algorithms from OMPL Geometric Planners:
- RRT
- RRTstar
- RRTConnect
- PRM
- PRMstar
- KPIECE1
- BKPIECE1
- LazyPRM
- ...

planner params <algorithm>

Displays default parameters for a planning algorithm:

ros2 run kompass kompass_cli planner params RRTstar

'ompl.geometric.RRTstar' Parameters:
------------------------
Name: Default Value
range: 0.0
goal_bias: 0.05
delay_collision_checking: True
...

The algorithm name matching is case-insensitive. You can use either the short name (RRTstar) or the full OMPL name (ompl.geometric.RRTstar).

accelerators_support

Lists SYCL-compatible GPU accelerators available on the system:

ros2 run kompass kompass_cli accelerators_support

Available GPU accelerators:
- NVIDIA GeForce RTX 3080

Or if no GPU support is available:

No GPU accelerators are available on this machine

This requires kompass-core to be installed with GPU support.

info

Displays help text with all commands and usage examples:

ros2 run kompass kompass_cli info