Actions

Actions#

Actions are methods or routines executed by a component or by the system monitor.

Actions can either be:

  • Actions paired with Events: in this case the Action is executed by a system monitor when an event is detected (see more details in Monitor, Launcher)

  • Actions paired with Fallbacks: in this case the Action is executed by a Component when a failure is detected

Actions are defined with:

  • method to be executed (Callable)

  • args: Arguments to be passed to the method when executing the action

  • kwargs: Keyword arguments to be passed to the method when executing the action

Usage Example:#

    from kompass.components.component import Component
    from kompass.config import ComponentConfig
    import logging

    def function():
        logging.info("I am executing an action!")

    my_component = Component(component_name='test_component')
    new_config = ComponentConfig(loop_rate=50.0)
    action1 = Action(method=my_component.start)
    action2 = Action(method=my_component.reconfigure, args=(new_config, True),)
    action3 = Action(method=function)

Available Defined Actions:#

Kompass comes with a set of pre-defined component level actions and system level actions

Component-level Actions:#

  • stop: Deactivate the lifecycle Component

  • start: Activate the lifecycle Component

  • restart: stop then start

  • reconfigure: Send new ComponentConfig class object to the Component

  • update_parameter: Update the value of one parameter in the ComponentConfig

  • update_parameters: Update the value of a set of parameters in the ComponentConfig

System-level Actions:#

  • log: Log a message

  • publish_message: Publish a ROS2 message to a given topic

  • send_srv_request: Send a ROS2 service request

  • send_action_goal: Send a ROS2 action goal

Tip

The previous pre-defined Actions are all keyword only

Usage Example:#

    from kompass.actions import Actions

    my_component = BaseComponent(component_name='test_component')
    action1 = Actions.start(component=my_component)
    action2 = Actions.log(msg="I am executing a cool action!")
Contents