kompass.components.drive_manager

Module Contents

Classes

DriveManagerConfig	DriveManager component configuration parameters
DriveManager	DriveManager.

API

class kompass.components.drive_manager.DriveManagerConfig

Bases: kompass.config.ComponentConfig

DriveManager component configuration parameters

Name	Type, Default	Description
closed_loop	bool, True	Publish commands in closed loop by checking the robot velocity from the odometry topic
cmd_rate	float, 10.0	Rate for sending the commands to the robot in closed loop (Hz)
closed_loop_span	int, 3	Max number of commands to send in a closed loop execution
smooth_commands	bool, False	Filter (smooth) incoming velocity commands to limit the acceleration
cmd_tolerance	float, 0.1	Tolerance value when checking for reaching the command in closed loop
critical_zone_angle	float, 0.1	Angle range for the emergency stop critical zone (deg)
critical_zone_distance	float, 0.05	Distance for the emergency stop critical zone (meters)

class kompass.components.drive_manager.DriveManager(component_name: str, config_file: Optional[str] = None, config: Optional[kompass.components.drive_manager.DriveManagerConfig] = None, inputs=None, outputs=None, **kwargs)

Bases: kompass.components.component.Component

DriveManager.

property run_type: kompass.config.ComponentRunType

Component run type: Timed, ActionServer or Event

Returns:

Timed, ActionServer or Server

Return type:

str

init_flags()

Setup node flags to track operations flow

init_variables()

Overwrites the init variables method called at Node init

attach_callbacks()

Attaches emergency_stop_check to sensor_data callback anf filtering commands to commands callbacks

execute_cmd_open_loop(cmd: geometry_msgs.msg.Twist, max_time: float)

Execute a control command in open loop

Parameters:

• cmd (Twist) – Velocity Twist message

• max_time (float) – Maximum time for the open loop execution (s)

execute_cmd_closed_loop(cmd: geometry_msgs.msg.Twist, max_time: float)

Execute a control command in closed loop

Parameters:

• cmd (Twist) – Velocity Twist message

• max_time (float) – Maximum time for the closed loop execution (s)

move_forward(max_distance: float) → bool

Moves the robot forward if the forward direction is clear of obstacles

Parameters:

max_distance (float) – Maximum distance (m)

Returns:

If the movement action is performed

Return type:

bool

move_backward(max_distance: float) → bool

Moves the robot backwards if the backward direction is clear of obstacles

Parameters:

max_distance (float) – Maximum distance (m)

Returns:

If the movement action is performed

Return type:

bool

rotate_in_place(max_rotation: float, safety_margin: Optional[float] = None) → bool

Rotates the robot in place if a safety margin around the robot is clear

Parameters:

safety_margin (Optional[float], optional) – Margin clear of obstacles to perform rotation, if None defaults to 5% of the robot_radius

Returns:

If the movement action is performed

Return type:

bool

move_to_unblock(max_distance_forward: Optional[float] = None, max_distance_backwards: Optional[float] = None, max_rotation: float = np.pi / 4, rotation_safety_margin: Optional[float] = None) → bool

Moves the robot forward/backward or rotate in place to get out of blocking spots

Parameters:

• max_distance_forward (Optional[float], optional) – Maximum distance to move forward (meters), if None defaults to 2 * robot_radius

• max_distance_backwards (Optional[float], optional) – Maximum distance to move backwards (meters), if None defaults to 2 * robot_radius

• max_rotation (float, optional) – Maximum rotation angle (radians), defaults to np.pi/4

• rotation_safety_margin (Optional[float], optional) – Safety margin to perform rotation in place (meters), if None defaults to 5% of robot_radius

Returns:

If one of the movement actions is performed

Return type:

bool