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

Controller Inputs

Key	Description	Accepted Types	Number of Topics	Default Value
plan	Path to reach the goal point from start location	Path	1	Topic(name="/plan", msg_type="Path")
location	Robot current location	Odometry, PoseWithCovariance, Pose	1	Topic(name="/odom", msg_type="Odometry")
sensor_data	Direct sensor input	LaserScan, PointCloud2	1	Topic(name="/scan", msg_type="LaserScan")
local_map	Local occupancy map	OccupancyGrid	1	Topic(name="/scan", msg_type="LaserScan")

Controller Outputs

Key	Description	Accepted Types	Default Value
command	One control command	Twist	Topic(name="/control", msg_type="Twist")
multi_command	A set of future control commands	TwistArray	Topic(name="/control_list", msg_type="TwistArray")
interpolation	Interpolated path	Path	Topic(name="/interpolated_path", msg_type="Path")
tracked_point	Tracked (closest) path point	PoseStamped	Topic(name="/tracked_point", msg_type="PoseStamped")

Available Algorithms:

• Stanley (pure follower)

• DVZ (Deformable Virtual Zone)

• DWA (Dynamic Window Approach)

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'