# {py:mod}`kompass.components.mission`

```{py:module} kompass.components.mission
```

```{autodoc2-docstring} kompass.components.mission
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`MissionManagerConfig <kompass.components.mission.MissionManagerConfig>`
  - ```{autodoc2-docstring} kompass.components.mission.MissionManagerConfig
    :summary:
    ```
* - {py:obj}`MissionManager <kompass.components.mission.MissionManager>`
  - ```{autodoc2-docstring} kompass.components.mission.MissionManager
    :summary:
    ```
````

### Functions

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`dwell_seconds <kompass.components.mission.dwell_seconds>`
  - ```{autodoc2-docstring} kompass.components.mission.dwell_seconds
    :summary:
    ```
* - {py:obj}`goto_step <kompass.components.mission.goto_step>`
  - ```{autodoc2-docstring} kompass.components.mission.goto_step
    :summary:
    ```
* - {py:obj}`stop_step <kompass.components.mission.stop_step>`
  - ```{autodoc2-docstring} kompass.components.mission.stop_step
    :summary:
    ```
* - {py:obj}`mission_routine_spec <kompass.components.mission.mission_routine_spec>`
  - ```{autodoc2-docstring} kompass.components.mission.mission_routine_spec
    :summary:
    ```
* - {py:obj}`reached_waypoints <kompass.components.mission.reached_waypoints>`
  - ```{autodoc2-docstring} kompass.components.mission.reached_waypoints
    :summary:
    ```
* - {py:obj}`ended_on_pause_timeout <kompass.components.mission.ended_on_pause_timeout>`
  - ```{autodoc2-docstring} kompass.components.mission.ended_on_pause_timeout
    :summary:
    ```
````

### API

````{py:function} dwell_seconds(pause_duration: typing.List[float], index: int) -> float
:canonical: kompass.components.mission.dwell_seconds

```{autodoc2-docstring} kompass.components.mission.dwell_seconds
```
````

````{py:function} goto_step(index: int, pose, *, planner_ref: str, algorithm_name: str, tolerance, timeout: float) -> typing.Dict[str, typing.Any]
:canonical: kompass.components.mission.goto_step

```{autodoc2-docstring} kompass.components.mission.goto_step
```
````

````{py:function} stop_step(index: typing.Union[int, str], ref: str, retries: int = 0) -> typing.Dict[str, typing.Any]
:canonical: kompass.components.mission.stop_step

```{autodoc2-docstring} kompass.components.mission.stop_step
```
````

````{py:function} mission_routine_spec(goal, *, name: str, planner_ref: str, stop_refs: typing.List[str], waypoint_timeout: float, start_pose=None, stop_retries: int = 0) -> typing.Dict[str, typing.Any]
:canonical: kompass.components.mission.mission_routine_spec

```{autodoc2-docstring} kompass.components.mission.mission_routine_spec
```
````

````{py:function} reached_waypoints(cursor: typing.Dict[str, typing.Any], total: int) -> typing.List[bool]
:canonical: kompass.components.mission.reached_waypoints

```{autodoc2-docstring} kompass.components.mission.reached_waypoints
```
````

````{py:function} ended_on_pause_timeout(cursor: typing.Dict[str, typing.Any]) -> bool
:canonical: kompass.components.mission.ended_on_pause_timeout

```{autodoc2-docstring} kompass.components.mission.ended_on_pause_timeout
```
````

````{py:class} MissionManagerConfig
:canonical: kompass.components.mission.MissionManagerConfig

Bases: {py:obj}`kompass.config.ComponentConfig`

```{autodoc2-docstring} kompass.components.mission.MissionManagerConfig
```

````

`````{py:class} MissionManager(component_name: str, planner: typing.Optional[kompass.components.component.Component] = None, controller: typing.Optional[kompass.components.controller.Controller] = None, drive_manager: typing.Optional[kompass.components.drive_manager.DriveManager] = None, config: typing.Optional[kompass.components.mission.MissionManagerConfig] = None, config_file: typing.Optional[str] = None, inputs: typing.Optional[typing.Dict[kompass.components.defaults.TopicsKeys, typing.Any]] = None, outputs: typing.Optional[typing.Dict[kompass.components.defaults.TopicsKeys, typing.Any]] = None, **kwargs)
:canonical: kompass.components.mission.MissionManager

Bases: {py:obj}`kompass.components.component.Component`

```{autodoc2-docstring} kompass.components.mission.MissionManager
```

````{py:method} custom_on_configure()
:canonical: kompass.components.mission.MissionManager.custom_on_configure

```{autodoc2-docstring} kompass.components.mission.MissionManager.custom_on_configure
```

````

````{py:method} on_deactivate(state)
:canonical: kompass.components.mission.MissionManager.on_deactivate

```{autodoc2-docstring} kompass.components.mission.MissionManager.on_deactivate
```

````

````{py:method} pause_mission(**_) -> kompass.components.ros.ActionReturnType
:canonical: kompass.components.mission.MissionManager.pause_mission

```{autodoc2-docstring} kompass.components.mission.MissionManager.pause_mission
```

````

````{py:method} resume_mission(**_) -> kompass.components.ros.ActionReturnType
:canonical: kompass.components.mission.MissionManager.resume_mission

```{autodoc2-docstring} kompass.components.mission.MissionManager.resume_mission
```

````

````{py:property} ui_waypoints
:canonical: kompass.components.mission.MissionManager.ui_waypoints
:type: ros_sugar.io.Topic

```{autodoc2-docstring} kompass.components.mission.MissionManager.ui_waypoints
```

````

````{py:property} ui_inputs
:canonical: kompass.components.mission.MissionManager.ui_inputs
:type: typing.List[typing.Any]

```{autodoc2-docstring} kompass.components.mission.MissionManager.ui_inputs
```

````

````{py:property} ui_outputs
:canonical: kompass.components.mission.MissionManager.ui_outputs
:type: typing.List[ros_sugar.io.Topic]

```{autodoc2-docstring} kompass.components.mission.MissionManager.ui_outputs
```

````

````{py:property} routine_name
:canonical: kompass.components.mission.MissionManager.routine_name
:type: str

```{autodoc2-docstring} kompass.components.mission.MissionManager.routine_name
```

````

````{py:property} stop_refs
:canonical: kompass.components.mission.MissionManager.stop_refs
:type: typing.List[str]

```{autodoc2-docstring} kompass.components.mission.MissionManager.stop_refs
```

````

````{py:method} start_pose() -> typing.Optional[geometry_msgs.msg.Pose]
:canonical: kompass.components.mission.MissionManager.start_pose

```{autodoc2-docstring} kompass.components.mission.MissionManager.start_pose
```

````

````{py:method} current_pose() -> typing.Optional[geometry_msgs.msg.PoseStamped]
:canonical: kompass.components.mission.MissionManager.current_pose

```{autodoc2-docstring} kompass.components.mission.MissionManager.current_pose
```

````

````{py:property} monitor
:canonical: kompass.components.mission.MissionManager.monitor
:type: ros_sugar.base_clients.ServiceClientHandler

```{autodoc2-docstring} kompass.components.mission.MissionManager.monitor
```

````

````{py:method} call_monitor(method: str, **kwargs) -> typing.Any
:canonical: kompass.components.mission.MissionManager.call_monitor

```{autodoc2-docstring} kompass.components.mission.MissionManager.call_monitor
```

````

````{py:method} cursor(routine_name: str) -> typing.Optional[typing.Dict[str, typing.Any]]
:canonical: kompass.components.mission.MissionManager.cursor

```{autodoc2-docstring} kompass.components.mission.MissionManager.cursor
```

````

````{py:method} custom_on_activate()
:canonical: kompass.components.mission.MissionManager.custom_on_activate

```{autodoc2-docstring} kompass.components.mission.MissionManager.custom_on_activate
```

````

````{py:method} main_action_callback(goal_handle)
:canonical: kompass.components.mission.MissionManager.main_action_callback

```{autodoc2-docstring} kompass.components.mission.MissionManager.main_action_callback
```

````

````{py:property} robot
:canonical: kompass.components.mission.MissionManager.robot
:type: kompass.config.RobotConfig

```{autodoc2-docstring} kompass.components.mission.MissionManager.robot
```

````

````{py:property} robot_geometry_type
:canonical: kompass.components.mission.MissionManager.robot_geometry_type
:type: kompass_core.models.RobotGeometry.Type

```{autodoc2-docstring} kompass.components.mission.MissionManager.robot_geometry_type
```

````

````{py:property} robot_ctrl_limits
:canonical: kompass.components.mission.MissionManager.robot_ctrl_limits
:type: kompass_core.models.RobotCtrlLimits

```{autodoc2-docstring} kompass.components.mission.MissionManager.robot_ctrl_limits
```

````

````{py:property} run_type
:canonical: kompass.components.mission.MissionManager.run_type
:type: kompass.config.ComponentRunType

```{autodoc2-docstring} kompass.components.mission.MissionManager.run_type
```

````

````{py:property} inputs_keys
:canonical: kompass.components.mission.MissionManager.inputs_keys
:type: typing.List[kompass.components.defaults.TopicsKeys]

```{autodoc2-docstring} kompass.components.mission.MissionManager.inputs_keys
```

````

````{py:property} outputs_keys
:canonical: kompass.components.mission.MissionManager.outputs_keys
:type: typing.List[kompass.components.defaults.TopicsKeys]

```{autodoc2-docstring} kompass.components.mission.MissionManager.outputs_keys
```

````

````{py:method} inputs(**kwargs)
:canonical: kompass.components.mission.MissionManager.inputs

```{autodoc2-docstring} kompass.components.mission.MissionManager.inputs
```

````

````{py:method} outputs(**kwargs)
:canonical: kompass.components.mission.MissionManager.outputs

```{autodoc2-docstring} kompass.components.mission.MissionManager.outputs
```

````

````{py:method} set_input(**kwargs) -> bool
:canonical: kompass.components.mission.MissionManager.set_input

```{autodoc2-docstring} kompass.components.mission.MissionManager.set_input
```

````

````{py:method} set_output(**kwargs) -> bool
:canonical: kompass.components.mission.MissionManager.set_output

```{autodoc2-docstring} kompass.components.mission.MissionManager.set_output
```

````

````{py:method} config_from_file(config_file: str)
:canonical: kompass.components.mission.MissionManager.config_from_file

```{autodoc2-docstring} kompass.components.mission.MissionManager.config_from_file
```

````

````{py:property} odom_tf_listener
:canonical: kompass.components.mission.MissionManager.odom_tf_listener
:type: typing.Optional[ros_sugar.tf.TFListener]

```{autodoc2-docstring} kompass.components.mission.MissionManager.odom_tf_listener
```

````

````{py:method} transform_inputs_to(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: str, static_tf: bool = False) -> None
:canonical: kompass.components.mission.MissionManager.transform_inputs_to

```{autodoc2-docstring} kompass.components.mission.MissionManager.transform_inputs_to
```

````

````{py:method} input_tf_listener(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: str, static_tf: bool = False, idx: int = 0) -> typing.Optional[ros_sugar.tf.TFListener]
:canonical: kompass.components.mission.MissionManager.input_tf_listener

```{autodoc2-docstring} kompass.components.mission.MissionManager.input_tf_listener
```

````

````{py:method} resolve_input_tf(topic_key: kompass.components.defaults.TopicsKeys, goal_frame: typing.Optional[str] = None, idx: int = 0) -> typing.Tuple[bool, typing.Optional[tf2_ros.TransformStamped]]
:canonical: kompass.components.mission.MissionManager.resolve_input_tf

```{autodoc2-docstring} kompass.components.mission.MissionManager.resolve_input_tf
```

````

````{py:method} wait_input_tf(topic_key: kompass.components.defaults.TopicsKeys, idx: int = 0, timeout: typing.Optional[float] = None, static_tf: bool = True) -> typing.Optional[ros_sugar.tf.TFListener]
:canonical: kompass.components.mission.MissionManager.wait_input_tf

```{autodoc2-docstring} kompass.components.mission.MissionManager.wait_input_tf
```

````

````{py:method} wait_sensor_config(topic_key: kompass.components.defaults.TopicsKeys, idx: int = 0, timeout: typing.Optional[float] = None) -> typing.Optional[kompass_cpp.types.SensorConfig]
:canonical: kompass.components.mission.MissionManager.wait_sensor_config

```{autodoc2-docstring} kompass.components.mission.MissionManager.wait_sensor_config
```

````

````{py:method} in_topic_name(key: typing.Union[str, kompass.components.defaults.TopicsKeys]) -> typing.Union[str, typing.List[str], None]
:canonical: kompass.components.mission.MissionManager.in_topic_name

```{autodoc2-docstring} kompass.components.mission.MissionManager.in_topic_name
```

````

````{py:method} out_topic_name(key: typing.Union[str, kompass.components.defaults.TopicsKeys]) -> typing.Union[str, typing.List[str], None]
:canonical: kompass.components.mission.MissionManager.out_topic_name

```{autodoc2-docstring} kompass.components.mission.MissionManager.out_topic_name
```

````

````{py:method} get_in_topic(key: typing.Union[str, kompass.components.defaults.TopicsKeys]) -> typing.Union[kompass.components.ros.Topic, typing.List[kompass.components.ros.Topic], None]
:canonical: kompass.components.mission.MissionManager.get_in_topic

```{autodoc2-docstring} kompass.components.mission.MissionManager.get_in_topic
```

````

````{py:method} get_out_topic(key: typing.Union[str, kompass.components.defaults.TopicsKeys]) -> typing.Union[kompass.components.ros.Topic, typing.List[kompass.components.ros.Topic], None]
:canonical: kompass.components.mission.MissionManager.get_out_topic

```{autodoc2-docstring} kompass.components.mission.MissionManager.get_out_topic
```

````

````{py:method} get_callback(key: typing.Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) -> typing.Optional[kompass.callbacks.GenericCallback]
:canonical: kompass.components.mission.MissionManager.get_callback

```{autodoc2-docstring} kompass.components.mission.MissionManager.get_callback
```

````

````{py:method} get_publisher(key: typing.Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) -> ros_sugar.io.Publisher
:canonical: kompass.components.mission.MissionManager.get_publisher

```{autodoc2-docstring} kompass.components.mission.MissionManager.get_publisher
```

````

````{py:method} callbacks_inputs_check(inputs_to_check: typing.Optional[typing.List[str]] = None, inputs_to_exclude: typing.Optional[typing.List[str]] = None) -> bool
:canonical: kompass.components.mission.MissionManager.callbacks_inputs_check

```{autodoc2-docstring} kompass.components.mission.MissionManager.callbacks_inputs_check
```

````

`````