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:

Message	ROS2 package	Callback return type	Publisher converts from
String	std_msgs	str	str
Bool	std_msgs	bool	bool
Float32	std_msgs	float	float
Float64	std_msgs	float	float
Point	geometry_msgs	kompass_core.models.RobotState	numpy.ndarray
PointStamped	geometry_msgs	kompass_core.models.RobotState	numpy.ndarray
Pose	geometry_msgs	kompass_core.models.RobotState	numpy.ndarray
PoseStamped	geometry_msgs	kompass_core.models.RobotState	numpy.ndarray
Twist	geometry_msgs	geometry_msgs.msg.Twist	geometry_msgs.msg.Twist
TwistArray	kompass_interfaces	kompass_interfaces.msg.TwistArray	kompass_interfaces.msg.TwistArray
Image	sensor_msgs	numpy.ndarray	numpy.ndarray
Audio	sensor_msgs	bytes	str | bytes
Odometry	nav_msgs	kompass_core.models.RobotState	kompass_core.models.RobotState
LaserScan	sensor_msgs	kompass_core.datatypes.LaserScanData	kompass_core.datatypes.LaserScanData
PointCloud2	sensor_msgs	kompass_core.datatypes.PointCloudData	sensor_msgs.msg.PointCloud2
Path	nav_msgs	nav_msgs.msg.Path	nav_msgs.msg.Path
OccupancyGrid	nav_msgs	nav_msgs.msg.OccupancyGrid | np.ndarray | Dict	numpy.ndarray
ComponentStatus	ros_sugar_interfaces	ros_sugar_interfaces.msg.ComponentStatus	ros_sugar_interfaces.msg.ComponentStatus