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) |
|
This component is used for path tracking and control around dynamic obstacles during navigation |
|
This component is used for direct communication with the robot: filtering/limiting/sending commands, performing emergency stop and robot unblocking actions. |
|
This component is responsible for generating this local map during the navigation. |
|
This component is resposible for serving a static global map from a file and making it available to the navigation stack during runtime. |
|
This component is used for automatic testing by sending automatic reference commands to the robot and recording resulting motion. |