Configuration¶

EMOS is built for flexibility – and that starts with how you configure your components.

Whether you are scripting in Python, editing clean and readable YAML, crafting elegant TOML files, or piping in JSON from a toolchain, EMOS lets you do it your way. No rigid formats or boilerplate structures. Just straightforward, expressive configuration – however you like to write it.

Configuration Formats¶

EMOS supports four configuration methods:

Python API
YAML
TOML
JSON

Pick your format. Plug it in. Go.

Python API¶

Use the full power of the Pythonic API to configure your components when you need 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")
)

YAML¶

Similar to traditional ROS 2 launch, you can maintain all your configuration parameters in a YAML file. EMOS simplifies the standard ROS 2 YAML format – just drop the ros__parameters noise:

/**: # Common parameters for all 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  # ~ pi / 3

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

Common parameters placed under the /** key are shared across all components. Component-specific parameters are placed under the component name.

TOML¶

Not a fan of YAML? EMOS lets you configure your components using TOML too. TOML offers clear structure and excellent tooling support, making it ideal 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  # ~ pi / 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 – perfect for automating your EMOS 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"
      }
    }
  }
}

Minimal Configuration Examples¶

For simple components that do not require full robot configuration, the config files are even more concise:

YAML

/**:
  common_int_param: 0

my_component_name:
  float_param: 1.5
  boolean_param: true

TOML

["/**"]
common_int_param = 0

[my_component_name]
float_param = 1.5
boolean_param = true

JSON

{
    "/**": {
        "common_int_param": 0
    },
    "my_component_name": {
        "float_param": 1.5,
        "boolean_param": true
    }
}

Note

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