Controller

Local planning and control is essential for any mobile robot in real-world applications to deal with unexpected situations while tracking the global trajectory.

Controller is used for path tracking and control around dynamic obstacles during navigation.

Available Run Types

Set from ControllerConfig class or directly from Controller ‘run_type’ property.

Timed	Compute a new control command periodically if all inputs are available
ActionServer	Offers a ControlPath ROS action and continuously computes a new control once an action request is received until goal point is reached

Inputs:

Key Name	Allowed Types	Number	Default
plan	nav_msgs.msg.Path	1	Topic(name="/plan", msg_type="Path")
location	nav_msgs.msg.Odometry, geometry_msgs.msg.PoseStamped, geometry_msgs.msg.Pose	1	Topic(name="/odom", msg_type="Odometry")
sensor_data	sensor_msgs.msg.LaserScan, sensor_msgs.msg.PointCloud2	1	Topic(name="/scan", msg_type="LaserScan")
local_map	nav_msgs.msg.OccupancyGrid	1	Topic(name="/local_map/occupancy_layer", msg_type="OccupancyGrid")
vision_tracking	automatika_embodied_agents.msg.Trackings, automatika_embodied_agents.msg.Detections2D	1	None, Should be provided to use the vision target tracking

Tip

Provide a ‘vision_tracking’ input topic to the controller to activate the creation of the a vision-based target following action server. See this example for more details.

Outputs:

Key Name	Allowed Types	Number	Default
command	geometry_msgs.msg.Twist	1	Topic(name="/control", msg_type="Twist")
multi_command	kompass_interfaces.msg.TwistArray	1	Topic(name="/control_list", msg_type="TwistArray")
interpolation	nav_msgs.msg.Path	1	Topic(name="/interpolated_path", msg_type="Path")
local_plan	nav_msgs.msg.Path	1	Topic(name="/local_path", msg_type="Path")
tracked_point	nav_msgs.msg.Odometry, geometry_msgs.msg.PoseStamped, geometry_msgs.msg.Poseautomatika_embodied_agents.msg.Detection2D	1	Topic(name="/tracked_point", msg_type="PoseStamped")

Available Algorithms:

• Stanley (pure follower)

• DVZ (Deformable Virtual Zone)

• DWA (Dynamic Window Approach)

• VisionFollower (Vision target following controller)

Configuration Parameters:

See ControllerConfig

Usage Example:

    from kompass.components import ControllerConfig, Controller
    from kompass.topic import Topic

    # Setup custom configuration
    my_config = ControllerConfig(loop_rate=10.0)

    # Init a controller object
    my_controller = Controller(component_name="controller", config=my_config)

    # Change an input
    my_controller.inputs(plan=Topic(name='/global_path', msg_type='Path'))

    # Change run type (default "Timed")
    my_controller.run_type = "ActionServer"

    # Change plugin
    my_controller.plugin = 'DWA'