Kompass

Kompass is a framework for building robust and comprehensive event-driven navigation stacks using an easy-to-use and intuitive Python API. Kompass is built to be customizable, extendable and hardware-agnostic. It aims to implement the most cutting edge algorithms for all parts of the navigation stack. And most importantly, it allows users to create very sophisticated navigation capabilities for autonomous mobile robots, within a single python script.

• Find out more about our motivation to create Kompass ✨

• Install Kompass on your robot 🛠️

• To get started with Kompass, check the quick start tutorial 🚀

• Do a deep dive into Kompass components 🤖

• Learn more about the design concepts of Kompass 📚

Kompass is divided into several interacting components each responsible for one of the navigation subtasks:

Kompass Components and Main Tasks

Kompass Components and Main Tasks

Each of the previous components runs as a ROS2 lifecycle node and communicates with the other components using ROS2 topics, services or action servers:

System Diagram for Point Navigation

System Diagram for Point Navigation

To learn more about the functionalities and configuration of each component check the component dedicated documentation page:

• Planner

• Controller

• Drive Manager

• Motion Server

Overview

• Why Kompass?
• Installation
• Quick Start

Navigation Components

• Robot Configuration
• Planner
• Controller
• Drive Manager
• Local Mapper
• Motion Server
• Global Mapping and Localization

Integrations

• OMPL (Open Motion Planning Library)
• FCL (Flexible Collisions Library)

Advanced

• Design Concepts
• Advanced Configurations
• Algorithms
• Supported ROS2 Messages
• Using Events/Actions in your application

References

• API Reference