πŸ”§ Configuring Components Your Way

πŸ”§ Configuring Components Your Way#

Kompass is built for flexibility β€” and that starts with how you configure your components.

Whether you’re scripting in Python, editing clean and readable YAML, crafting elegant TOML files, or piping in JSON from a toolchain, Kompass lets you do it your way.

No more rigid formats or boilerplate structures. Just straightforward, expressive configuration β€” however you like to write it.

πŸ‘‡ Here’s how to define your components using:

Pick your flavor. Plug it in. Go.

🐍 Python API#

Use the full power of the Pythonic API of Kompass to configure your components when you want dynamic logic, computation, or tighter control.

from kompass.components import Planner, PlannerConfig
from kompass.ros import Topic
from kompass.robot import (
    AngularCtrlLimits,
    LinearCtrlLimits,
    RobotGeometry,
    RobotType,
    RobotConfig,
    RobotFrames
)
import numpy as np
import math

# Define your robot's physical and control characteristics
my_robot = RobotConfig(
    model_type=RobotType.DIFFERENTIAL_DRIVE,            # Type of robot motion model
    geometry_type=RobotGeometry.Type.CYLINDER,          # Shape of the robot
    geometry_params=np.array([0.1, 0.3]),                # Diameter and height of the cylinder
    ctrl_vx_limits=LinearCtrlLimits(                     # Linear velocity constraints
        max_vel=0.4,
        max_acc=1.5,
        max_decel=2.5
    ),
    ctrl_omega_limits=AngularCtrlLimits(                 # Angular velocity constraints
        max_vel=0.4,
        max_acc=2.0,
        max_decel=2.0,
        max_steer=math.pi / 3                            # Steering angle limit (radians)
    ),
)

# Define the robot's coordinates frames
my_frames = RobotFrames(
    world="map",
    odom="odom",
    robot_base="body",
    scan="lidar_link"
)

# Create the planner config using your robot setup
config = PlannerConfig(
    robot=my_robot,
    loop_rate=1.0
)

# Instantiate the Planner component
planner = Planner(
    component_name="planner",
    config=config
)

# Additionally configure the component's inputs or outputs
planner.inputs(
    map_layer=Topic(name="/map", msg_type="OccupancyGrid"),
    goal_point=Topic(name="/clicked_point", msg_type="PointStamped")
)

πŸ“„ YAML#

Similar to traditional ROS2 launch, you can still maintain all your configuration parameters in a YAML file.

/**:
  # Fames and Robot configuration can be passed under the component name
  # They can also be kep here under 'common config' to be used for multiple components
  frames:
    robot_base: "body"
    odom: "odom"
    world: "map"
    scan: "lidar_link"

  robot:
    model_type: "DIFFERENTIAL_DRIVE"
    geometry_type: "CYLINDER"
    geometry_params: [0.1, 0.3]

    ctrl_vx_limits:
      max_vel: 0.4
      max_acc: 1.5
      max_decel: 2.5

    ctrl_omega_limits:
      max_vel: 0.4
      max_acc: 2.0
      max_decel: 2.0
      max_steer: 1.0472  # β‰ˆ Ο€ / 3

planner:
  inputs:
    map_layer:
      name: "/map"
      msg_type: "OccupancyGrid"
    goal_point:
      name: "/clicked_point"
      msg_type: "PointStamped"
  loop_rate: 1.0

πŸ… TOML#

Not a fan of YAML? No worries β€” Kompass lets you configure your components using TOML too. TOML offers clear structure and excellent tooling support, making it perfect for clean, maintainable configs.

["/**".frames]
robot_base = "body"
odom = "odom"
world = "map"
scan = "lidar_link"

["/**".robot]
model_type = "DIFFERENTIAL_DRIVE"
geometry_type = "CYLINDER"
geometry_params = [0.1, 0.3]

["/**".robot.ctrl_vx_limits]
max_vel = 0.4
max_acc = 1.5
max_decel = 2.5

["/**".robot.ctrl_omega_limits]
max_vel = 0.4
max_acc = 2.0
max_decel = 2.0
max_steer = 1.0472  # β‰ˆ Ο€ / 3

[planner]
loop_rate = 1.0

[planner.inputs.map_layer]
name = "/map"
msg_type = "OccupancyGrid"

[planner.inputs.goal_point]
name = "/clicked_point"
msg_type = "PointStamped"

🟨 JSON#

Prefer curly braces? Or looking to pipe configs from an ML model or external toolchain? JSON is machine-friendly and widely supported β€” perfect for automating your Kompass configuration with generated files.

{
  "/**": {
    "frames": {
      "robot_base": "body",
      "odom": "odom",
      "world": "map",
      "scan": "lidar_link"
    },
    "robot": {
      "model_type": "DIFFERENTIAL_DRIVE",
      "geometry_type": "CYLINDER",
      "geometry_params": [0.1, 0.3],
      "ctrl_vx_limits": {
        "max_vel": 0.4,
        "max_acc": 1.5,
        "max_decel": 2.5
      },
      "ctrl_omega_limits": {
        "max_vel": 0.4,
        "max_acc": 2.0,
        "max_decel": 2.0,
        "max_steer": 1.0472
      }
    }
  },
  "planner": {
    "loop_rate": 1.0,
    "inputs": {
      "map_layer": {
        "name": "/map",
        "msg_type": "OccupancyGrid"
      },
      "goal_point": {
        "name": "/clicked_point",
        "msg_type": "PointStamped"
      }
    }
  }
}

Note

Make sure to pass your config file to the component on initialization or to the Launcher.

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