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
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, 45deg	Angle range for the emergency stop critical zone (deg)
critical_zone_distance	float, 0.05	Distance for the emergency stop critical zone (meters)
slowdown_zone_distance	float, 0.2	Distance for the slowdown zone (meters)
disable_safety_stop	bool, False	Set to True to disable the safety stop functionality
use_without_scan_sensor	bool, False	Set to True to use the drive manager without 360deg scan sensor, e.g. for robots with only front and back ultrasound sensors
use_gpu	bool, True	Use GPU implementation for the critical zone checking if available, otherwise use CPU implementation

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

Bases: kompass.components.component.Component

DriveManager.

init_variables()

Overwrites the init variables method called at Node init

execute_cmd_closed_loop(output: 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 / 2, 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

custom_on_configure()

property robot: kompass.config.RobotConfig

property run_type: kompass.config.ComponentRunType

property inputs_keys: List[kompass.components.defaults.TopicsKeys]

property outputs_keys: List[kompass.components.defaults.TopicsKeys]

inputs(**kwargs)

outputs(**kwargs)

config_from_file(config_file: str)

property odom_tf_listener: Optional[ros_sugar.tf.TFListener]

property scan_tf_listener: ros_sugar.tf.TFListener

property depth_tf_listener: ros_sugar.tf.TFListener

property pc_tf_listener: ros_sugar.tf.TFListener

get_transform_listener(src_frame: str, goal_frame: str) → ros_sugar.tf.TFListener

in_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]

out_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]

get_in_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]

get_out_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]

get_callback(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → Optional[kompass.callbacks.GenericCallback]

get_publisher(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → ros_sugar.io.Publisher

callbacks_inputs_check(inputs_to_check: Optional[List[str]] = None, inputs_to_exclude: Optional[List[str]] = None) → bool