📨 Supported ROS2 Messages#
Kompass components create automatic subscribers and callbacks to all inputs and publishers to all outputs. Kompass comes with a set of supported message types; each supported type has an associated callback and publisher.
Tip
Access all callbacks in a component in self.callbacks: Dict[str, GenericCallback] and get the topic incoming message using get_output method in the callback class
Tip
Access all publishers in a BaseComponent in self.publishers_dict: Dict[str, Publisher] and publish a new message to the topic using publish method in the publisher class
Below is a list of supported messages and the types accepted by their publishers publish method and returned by their callback get_output method:
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ROS2 package |
Callback return type |
Publisher converts from |
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Detections |
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Trackings |