kompass.ros

Inputs/Outputs configuration classes

Module Contents

Classes

QoSConfig	Class for quality of service (QoS) configuration in ROS2
Topic	Class for ROS topic configuration (name, type and QoS)

Functions

augment_ui

Kompass UI elements, added to the Sugarcoat browser UI elements.

API

kompass.ros.augment_ui()

Kompass UI elements, added to the Sugarcoat browser UI elements.

Imported lazily: the elements need the browser UI dependencies, which are only required when the UI is served with a browser front-end

class kompass.ros.QoSConfig

Bases: ros_sugar.config.QoSConfig

Class for quality of service (QoS) configuration in ROS2

Name	Type, Default	Description
history	int, [qos](https://docs.ros2.org/foxy/api/rclpy/api/qos.html).HistoryPolicy.KEEP_LAST	Sample store type: ALL or LAST (up to N samples, configurable via the queue depth option)
queue_size	int, 10	Used only if the “history” policy was set to “keep last”
reliability	int, qos.ReliabilityPolicy.RELIABLE	Level of reliability in delivering samples
durability	int, qos.DurabilityPolicy.SYSTEM_DEFAULT	Determines if the publisher will be persisting samples for “late-joining” subscriptions (Transit Local) or not (Volatile). The default leaves it to the middleware, which is volatile

class kompass.ros.Topic

Bases: ros_sugar.io.Topic

Class for ROS topic configuration (name, type and QoS)

Name	Type, Default	Description
name	str	Topic name
msg_type	type | str	Topic message type, can be provided as a ‘type’ or the type name as a string
qos_profile	QoSConfig | Dict, QoSConfig()	QoS (Quality of Service) configuration