Inputs and Outputs#

Components in Kompass are defined to accept only restricted types of inputs/outputs to help lock the functionality of a specific Component implementation. Each input/output is associated with a unique keyword name and is set to accept one or many of ROS2 message types. Additionally, the input/output keyword in the Component can define a category of Topics rather than a single one. To see an example of this check the DriveManager Component. In this component the input sensor_data defines any proximity sensor input (LiDAR, Radar, etc.) and can optionally take up to 10 Topics of such types to fuse it internally during execution.

Configuring an input/output of a Component is very straightforward and can be done in one line in your Python script. Below is an example for configuring the previously mentioned DriveManager:

    from kompass.components import DriveManager
    from kompass.ros import Topic

    driver = DriveManager(component_name="driver")

    # Configure an input
    driver.inputs(sensor_data=[Topic(name='/scan', msg_type='LaserScan'),
                               Topics(name='radar_data', msg_type='Float64')])

    # Configure an output
    driver.outputs(emergency_stop=Topic(name='alarm', msg_type='Bool'))

See also

See the input/output configuration class Topic in detail here

All Inputs/Outputs in Kompass Components are defined with fixed key names across the stack, each containing:

Set of allowed types for the stream (equivalent to ROS2 messages)
The number of required streams for the key name
The maximum number of additional streams that can be assigned.

Below is a list of all the streams (inputs and outputs) key names available in Kompass stack:

Enum TopicsKeys	Name Value	Description
GOAL_POINT	`"goal_point"`	Target destination point on the map for the robot point navigation
GLOBAL_PLAN	`"plan"`	Global navigation plan (path) from start to goal
GLOBAL_MAP	`"map"`	Global (reference) map used for navigation
ROBOT_LOCATION	`"location"`	Current position and orientation of the robot
SPATIAL_SENSOR	`"sensor_data"`	Raw data from robot’s spatial sensors (e.g., LIDAR, depth sensors)
VISION_TRACKINGS	`"vision_tracking"`	Visual tracking data from robot’s cameras or vision systems
DEPTH_CAM_INFO	`"depth_camera_info"`	Depth camera information which includes camera intrinsics parameters
LOCAL_PLAN	`"local_plan"`	Short-term path plan considering immediate surroundings
INTERMEDIATE_CMD	`"command"`	Robot velocity command produced by the control system
INTERMEDIATE_CMD_LIST	`"multi_command"`	List of intermediate velocity commands
LOCAL_MAP	`"local_map"`	Map of the immediate surroundings for local navigation (control)
LOCAL_MAP_OCC	`"local_map"`	Occupancy grid representation of the local environment
INTERPOLATED_PATH	`"interpolation"`	Interpolated global path
TRACKED_POINT	`"tracked_point"`	Specific point being tracked by the robot’s systems on the reference path of reference vision target
FINAL_COMMAND	`"robot_command"`	Final control command sent to robot’s driver
EMERGENCY	`"emergency_stop"`	Emergency stop signal for immediate robot halt
REACHED_END	`"reached_end"`	Flag indicating whether the goal point has been reached
RUN_TESTS	`"run_tests"`	Flag to initiate system test procedures

Tip

You can refer to each individual component in the stack to see its respective Inputs and Output keys, along with their allowed types and number of optional and required streams. (See Planner Inputs or example)