`kompass.components.motion_server`¶

Module Contents¶

Classes¶

`MotionServerConfig`	MotionServer config parameters
`MotionServer`	MotionServer component used for automatic testing by sending reference commands and recording resulting motion.

API¶

class kompass.components.motion_server.MotionServerConfig¶

Bases: kompass.config.ComponentConfig

MotionServer config parameters

class kompass.components.motion_server.MotionServer(*, component_name: str, config: Optional[kompass.components.motion_server.MotionServerConfig] = None, config_file: Optional[str] = None, robot_cmd_topic: Optional[kompass.components.ros.Topic] = None, robot_odom_topic: Optional[kompass.components.ros.Topic] = None, callback_group: Optional[rclpy.callback_groups.CallbackGroup] = None, **kwargs)¶

Bases: kompass.components.component.Component

MotionServer component used for automatic testing by sending reference commands and recording resulting motion.

Input Topics:

run: Run tests on start
Default Topic(name="/run_tests", msg_type="Bool")
robot_command: Control command.
Default Topic(name="/cmd_vel", msg_type="Twist")

Output Topics:

command: Control Command
Default Topic(name="/control", msg_type="Twist")

Note

Topic for ‘Control Command’ is both in MotionServer inputs and outputs:

The output is used when running automated testing (i.e. sending the commands directly from the MotionServer).
The input is used to purely record motion and control from external sources (example: recording output from Controller).
Different command topics can be configured for the input and the output. For example: to test the DriveManager, the control command from MotionServer output can be sent to the DriveManager, then the DriveManager output can be configured as the MotionServer input for recording.

Available Run Types:

Set directly from MotionServer ‘run_type’ property.

TIMED: Launches an automated test periodically after start.
EVENT: Launches automated testing when a trigger ir received on RUN input.
ACTIONSERVER: Offers a MotionRecording ROS action to record motion for location and control commands topics for given recording period.

Usage Example:

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

init_variables() → None¶: init_variables.

main_action_callback(goal_handle: kompass_interfaces.action.MotionRecording.Goal) → kompass_interfaces.action.MotionRecording.Result¶

Execute motion recording action

Parameters:: goal_handle (MotionRecording.Goal) – Action goal
Returns:: Action result
Return type:: MotionRecording.Result

run_motion_response_tests(msg, **_) → None¶: Run a set of tests to record the robot motion response Used for robot model calibration

generate_basic_ctr_tests(number_of_steps: int) → List[Dict]¶

Generates a ser of basic tests

Parameters:: number_of_steps (int) – Number of time steps in each test
Returns:: Constructed tests
Return type:: list[dict]

send_test(test: numpy.ndarray, test_name: str, number_steps: int) → bool¶

Send a new motion recording test to the robot cmd topic

Parameters:

test (np.ndarray) – Set of control commands
test_name (str) – Name of the test
number_steps (int) – Test control time steps

Returns:

Test processed

Return type:

bool

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)

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(src_frame: str, goal_frame: str) → 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.motion_server¶

Module Contents¶

Classes¶

API¶

`kompass.components.motion_server`¶