`kompass.components.drive_manager`¶

Module Contents¶

Classes¶

`DriveManagerConfig`	DriveManager component configuration parameters
`DriveManager`	DriveManager component used for direct communication with the robot.

API¶

class kompass.components.drive_manager.DriveManagerConfig¶

Bases: kompass.config.ComponentConfig

DriveManager component configuration parameters

Name	Type, Default	Description
closed_loop	`bool`, `True`	Publish commands in closed loop by checking the robot velocity from the odometry topic
closed_loop_span	`int`, `3`	Max number of commands to send in a closed loop execution
smooth_commands	`bool`, `False`	Filter (smooth) incoming velocity commands to limit the acceleration
cmd_tolerance	`float`, `0.1`	Tolerance value when checking for reaching the command in closed loop
critical_zone_angle	`float`, `45deg`	Angle range for the emergency stop critical zone (deg)
critical_zone_distance	`float`, `0.05`	Distance for the emergency stop critical zone (meters)
slowdown_zone_distance	`float`, `0.2`	Distance for the slowdown zone (meters)
disable_safety_stop	`bool`, `False`	Set to `True` to disable the safety stop functionality
use_without_scan_sensor	`bool`, `False`	Set to `True` to use the drive manager without 360deg scan sensor, e.g. for robots with only front and back ultrasound sensors
use_gpu	`bool`, `True`	Use GPU implementation for the critical zone checking if available, otherwise use CPU implementation
pointcloud_angle_resolution	`float`, `0.1`	Angle resolution when converting point cloud data for critical zone check

class kompass.components.drive_manager.DriveManager(component_name: str, config_file: Optional[str] = None, config: Optional[kompass.components.drive_manager.DriveManagerConfig] = None, inputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, outputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, **kwargs)¶

Bases: kompass.components.component.Component

DriveManager component used for direct communication with the robot.

Inputs:

Key Name	Allowed Types	Number	Default
intermediate_cmd	`geometry_msgs.msg.Twist`	1	`Topic(name="/control", msg_type="Twist")`
intermediate_cmd_list	`kompass_interfaces.msg.TwistArray`	1	`Topic(name="/control_list", msg_type="TwistArray")`
spatial_sensor	`sensor_msgs.msg.LaserScan`, `sensor_msgs.msg.PointCloud2`, `std_msgs.msg.Float32`, `std_msgs.msg.Float64`	1 to 10	`Topic(name="/scan", msg_type="LaserScan")`
robot_location	`nav_msgs.msg.Odometry`, `geometry_msgs.msg.PoseStamped`, `geometry_msgs.msg.Pose`	1	`Topic(name="/odom", msg_type="Odometry")`

Outputs:

Key Name	Allowed Types	Number	Default
final_command	`geometry_msgs.msg.Twist`, `geometry_msgs.msg.TwistStamped`	1	`Topic(name="/cmd_vel", msg_type="Twist")`
emergency	`std_msgs.msg.Bool`	1	`Topic(name="/emergency_stop", msg_type="Bool")`

init_variables()¶: Overwrites the init variables method called at Node init

execute_cmd_closed_loop(output: geometry_msgs.msg.Twist, max_time: float)¶

Execute a control command in closed loop

Parameters:

cmd (Twist) – Velocity Twist message
max_time (float) – Maximum time for the closed loop execution (s)

move_forward(max_distance: float, **_) → bool¶

Moves the robot forward if the forward direction is clear of obstacles

Parameters:: max_distance (float) – Maximum distance (m)
Returns:: If the movement action is performed
Return type:: bool

move_backward(max_distance: float, **_) → bool¶

Moves the robot backwards if the backward direction is clear of obstacles

Parameters:: max_distance (float) – Maximum distance (m)
Returns:: If the movement action is performed
Return type:: bool

rotate_in_place(max_rotation: float, safety_margin: Optional[float] = None, **_) → bool¶

Rotates the robot in place if a safety margin around the robot is clear

Parameters:: safety_margin (Optional[float], optional) – Margin clear of obstacles to perform rotation, if None defaults to 5% of the robot_radius
Returns:: If the movement action is performed
Return type:: bool

move_to_unblock(max_distance_forward: Optional[float] = None, max_distance_backwards: Optional[float] = None, max_rotation: float = np.pi / 2, rotation_safety_margin: Optional[float] = None, **_) → bool¶

Moves the robot forward/backward or rotate in place to get out of blocking spots

Parameters:

max_distance_forward (Optional[float], optional) – Maximum distance to move forward (meters), if None defaults to 2 * robot_radius
max_distance_backwards (Optional[float], optional) – Maximum distance to move backwards (meters), if None defaults to 2 * robot_radius
max_rotation (float, optional) – Maximum rotation angle (radians), defaults to np.pi/4
rotation_safety_margin (Optional[float], optional) – Safety margin to perform rotation in place (meters), if None defaults to 5% of robot_radius

Returns:

If one of the movement actions is performed

Return type:

bool

custom_on_configure()¶: Component custom configuration method to set the core debug level

property robot: kompass.config.RobotConfig¶

Getter of robot config

Returns:: Robot configuration
Return type:: RobotConfig

property run_type: kompass.config.ComponentRunType¶

Component run type: Timed, ActionServer or Event

Returns:: Timed, ActionServer or Server
Return type:: str

property inputs_keys: List[kompass.components.defaults.TopicsKeys]¶: Getter of component inputs key names that should be used in the inputs dictionary

property outputs_keys: List[kompass.components.defaults.TopicsKeys]¶: Getter of component outputs key names that should be used in the inputs dictionary

inputs(**kwargs)¶: Set component input streams (topics) : kwargs[topic_keyword]=Topic()

outputs(**kwargs)¶: Set component output streams (topics)

set_input(**kwargs) → bool¶

Set value of an input(s) topic

Returns:: If input(s) successfully updated
Return type:: bool

set_output(**kwargs) → bool¶

Set value of an output(s) topic

Returns:: If output is successfully updates
Return type:: bool

config_from_file(config_file: str)¶

Configure component from file

Parameters:: config_file (str) – Path to file (yaml, json, toml)

property odom_tf_listener: Optional[ros_sugar.tf.TFListener]¶

Gets a transform listener for Odometry (from odom to world)

Returns:
Return type:: TFListener

property scan_tf_listener: ros_sugar.tf.TFListener¶

Gets a transform listener for LaserScan (from scan to robot base)

Returns:
Return type:: TFListener

property depth_tf_listener: ros_sugar.tf.TFListener¶

Gets a transform listener for LaserScan (from scan to robot base)

Returns:
Return type:: TFListener

property pc_tf_listener: ros_sugar.tf.TFListener¶

Gets a transform listener for LaserScan (from scan to robot base)

Returns:
Return type:: TFListener

get_transform_listener(**kwargs) → ros_sugar.tf.TFListener¶

Gets a transform listener

Parameters:

src_frame (str) – Source coordinates frame
goal_frame (str) – Goal coordinates frame

Returns:

TF listener object

Return type:

TFListener

in_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]¶

Get the topic(s) name(s) corresponding to an input key name

Parameters:: key (str) – Input key name
Returns:: Topic(s) name(s)
Return type:: Union[str, List[str], None]

out_topic_name(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[str, List[str], None]¶

Get the topic(s) name(s) corresponding to an output key name

Parameters:: key (str) – Output key name
Returns:: Topic(s) name(s)
Return type:: Union[str, List[str], None]

get_in_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]¶

Get the topic(s) corresponding to an input key name

Parameters:: key (str) – Input key name
Returns:: Topic(s)
Return type:: Union[Topic, List[Topic], None]

get_out_topic(key: Union[str, kompass.components.defaults.TopicsKeys]) → Union[kompass.components.ros.Topic, List[kompass.components.ros.Topic], None]¶

Get the topic(s) corresponding to an output key name

Parameters:: key (str) – Output key name
Returns:: Topic(s)
Return type:: Union[Topic, List[Topic], None]

get_callback(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → Optional[kompass.callbacks.GenericCallback]¶

Get callback with given input key name

Parameters:

key (str) – Input key name
idx (int, optional) – Index of the input of multiple inputs correspond to the same key, defaults to 0

Raises:

KeyError – If key is not found in component inputs

Returns:

Callback object

Return type:

GenericCallback

get_publisher(key: Union[str, kompass.components.defaults.TopicsKeys], idx: int = 0) → ros_sugar.io.Publisher¶

Get publisher with given output key name

Parameters:

key (str) – Output topic key name
idx (int, optional) – Index of the output of multiple inputs correspond to the same key, defaults to 0

Raises:

KeyError – If key is not found in component outputs

Returns:

Publisher object

Return type:

Publisher

callbacks_inputs_check(inputs_to_check: Optional[List[str]] = None, inputs_to_exclude: Optional[List[str]] = None) → bool¶: Check that all node inputs are provided before executing callback

kompass.components.drive_manager¶

Module Contents¶

Classes¶

API¶

`kompass.components.drive_manager`¶