kompass.components#
Kompass main system components each responsible for one of the navigation subtasks
Component Name |
Description |
|---|---|
In charge of global path planning in Kompass. Planner uses the Open Motion Planning Library (OMPL) plugins to perform the path planning (more on OMPL integration with Kompass) |
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This component is used for path tracking and control around dynamic obstacles during navigation |
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This component is used for direct communication with the robot: filtering/limiting/sending commands, performing emergency stop and robot unblocking actions. |
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This component is responsible for generating this local map during the navigation. |
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This component used for automatic testing by sending automatic reference commands to the robot and recording resulting motion. |