`kompass.components.map_server`¶

Module Contents¶

Classes¶

`MapServerConfig`	MapServer component configuration parameters
`MapServer`	MapServer component used for reading and converting map data from file to serve a global map. Supports both 2D maps with a YAML file and 3D maps with PCD files.

API¶

class kompass.components.map_server.MapServerConfig¶

Bases: kompass.config.ComponentConfig

MapServer component configuration parameters

Name	Type, Default	Description
map_file_read_rate	`float`, `0.0`	Rate to read and convert the map data from file. If zero, converts once.
pc_publish_row	`bool`, `True`	Publish the row point cloud data read from the file. Only applicable if input is `.pcd` file.
pc_frame	`Optional[str]`, `None`	Frame ID to use when publishing the point cloud data. If `None`, uses the world frame.
map_file_path	`Optional[str]`, `None`	Path to the map file.
custom_map_frame	`Optional[str]`, `None`	Custom frame ID for the map.
grid_resolution	`float`, `0.05`	Resolution of the occupancy grid if generating from point cloud.
z_ground_limit	`float`, `0.01`	Points below this height value are considered ground. Used only for point cloud input.

class kompass.components.map_server.MapServer(component_name: str, config_file: Optional[str] = None, config: Optional[kompass.components.map_server.MapServerConfig] = None, outputs: Optional[Dict[str, kompass.components.ros.Topic]] = None, **kwargs)¶

Bases: kompass.components.component.Component

MapServer component used for reading and converting map data from file to serve a global map. Supports both 2D maps with a YAML file and 3D maps with PCD files.

Outputs:

Key Name	Allowed Types	Number	Default
global_map	`nav_msgs.msg.OccupancyGrid`	1	`Topic(name="/map", msg_type="OccupancyGrid")` - Global map generated from input data.
spatial_sensor	`sensor_msgs.msg.PointCloud2`	1, optional	`Topic(name="/row_point_cloud", msg_type="PointCloud2")` - Row point cloud data for visualization or further processing.

Available Services:

Save2dMapToFile: Saves the 2D map to a file (YAML format).
Save3dMapToFile: Saves the 3D map to a file (PCD format).

Usage Example:

from kompass.components import MapServerConfig, MapServer
from kompass.ros import Topic

# Setup custom configuration
my_config = MapServerConfig(
        map_file_read_rate=5.0,
        map_file_path="/path/to/your/map.pcd",
        grid_resolution=0.1,
        pc_publish_row=False,
    )

# Init a MapServer object
my_map_server = MapServer(component_name="map_server", config=my_config)

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

create_all_timers()¶: Create all node timers

create_all_services()¶: Creates all node services

destroy_all_timers()¶: Destroys all node timers

destroy_all_services()¶: Destroys all node services

convert_map_from_file() → bool¶: Convert the map from file to OccupancyGrid message

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.map_server¶

Module Contents¶

Classes¶

API¶

`kompass.components.map_server`¶