Topics

Topics#

Kompass provides classes to configure a ROS2 topics as a Component Input/Output.

Topic Configuration Class#

  • Configured using:

  1. name: [str], ROS2 topic name.

  2. msg_type: [Union[Kompass.data_types.SupportedType, str]], ROS2 message type, passed as a string or as a type.

  3. qos_profile: QoSConfig, See usage in example below.

  • Provides:

ros_msg_type: [type], Provides the ROS2 message type of the topic.

Note

Topic in Kompass only supports certain ROS2 message types found in Supported Types

Usage Example#

from kompass.config import Topic

topic = Topic(name='/local_map', msg_type='OccupancyGrid')
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