Installation#

Prerequisites#

Kompass is built to be used with ROS2. All ROS2 distributions starting from Foxy upto Rolling are supported. Install ROS2 version of your choice by following the instructions on the official site.

Install kompass-core#

kompass-core is a python package that provides highly optimized implementations of planning and control algorithms for Kompass. You can install it in the following ways:

With GPU support (Recommended):#

On any Ubuntu (including Jetpack) based machine, you can simply run the following:

curl https://raw.githubusercontent.com/automatika-robotics/kompass-core/refs/heads/main/build_dependencies/install_gpu.sh | bash

This script will install all relevant dependencies, including AdaptiveCPP and install the latest version of kompass-core from source. It is good practice to read the script first.

Installing with pip#

On Ubuntu versions >= 22.04, install dependencies by running the following:

sudo apt-get install libompl-dev libfcl-dev libpcl-dev

Then install kompass-core as follows:

pip install kompass-core

Install Kompass#

Install pre-build Kompass binary as follows:

sudo apt install ros-$ROS_DISTRO-kompass

Build Kompass from source#

You can build Kompass from source as follows:

mkdir -p kompass_ws/src
cd kompass_ws/src
git clone https://github.com/automatika-robotics/ros-sugar
git clone https://github.com/automatika-robotics/kompass
rosdep update
rosdep install -y --from-paths . --ignore-src
cd ..
colcon build

Installation

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