CHANGELOG

Changelog for package kompass

0.5.0 (2026-05-02)

  • (fix) Removes type hint from map server to fix for rolling api change

  • (fix) Fixes sending algorithm name error in health status

  • (fix) Returns robot state regardless of the TF since it will be blocked in the main update_state if required and not available

  • (fix) Fixes reading robot state in update state

  • (chore) Updates kompaass-core and sugarcoat minimum versions

  • (chore) Update turtlebot test recipe

  • (fix) Fixes state update in path control

  • (refactor) Fixes vision follower execution using rgb images

  • (refactor) Removes sensor data from vision follower loop step

  • (refactor) Splits update_state into two methods for updating sensor data and updating robot state

  • (fix) Reduces default value for topic subscription timeout and timestep

  • (refactor) Updates tests to use new controller helper modules

  • (refactor) Cleans up the controller component and uses new helper modules

  • (refactor) Moves all vision following lifecycle methods to a helper module

  • (refactor) Moves gathering obstacles method into utils

  • (refactor) Moves Controller status/mode enums into a helper module

  • (fix) Fixes method name typo

  • (chore) Adds a user warning when providing a camera frame that seems like an ‘optical’ frame instead of the physical link

  • (fix) Fixes setting the local map frame based on the available transformation data

  • (refactor) Adds utility method to lookup and wait for a TF in component and uses it in the Controller

  • (fix) Fixes all return paths for set_algorithm and adds tests for it

  • (chore) Adds tests for planner and path controller

  • (fix) Removes stale interface calls in controller

  • (refactor) Adds path controller status enum to track status uniformly during control loops

  • (fix) Fixes handling of detection and point of interest use in planning callback for EVENT mode

  • (refactor) Removes blocking wait for odom world tf to not starve the callbacks

  • (fix) Removes reached_end topic spamming from reached_point function in planner

  • (refactor) Makes robot state wait loop non blocking with timeout in controller

  • (fix) Fixes quaternion construction in planner for goal orientation

  • (fix) Fixes path deviation error assignment in controller action feedback msg

  • (fix) Fixes path tracking callback feedback construction

  • (feature) Adds correctness pytests for controller vision tracking server

  • (refactor) Reduces vision_tracking_callback complexity by refactoring steps into helper methods

  • (feature) Adds block attribute to update_state to block on controller init and prevent blocking inside control loops

  • (fix) Adds missing sleep to wait for incoming data

  • (fix) Adds wait and timeout for incoming data on vision tracking setup

  • (fix) Fixes state update in vision follower server callback

  • (fix) Sets detection search default value to None in callback to avoid next exceptions

  • (chore) Uses ‘warning’ instead of ‘warn’ in loggings for Rolling compatibility

  • (fix) Fixes Detections2D and PointsOfInterest callbacks handeling of depth data

  • (fix) Marks static transforms to reduce TF search overhead

  • (fix) Fixes planner action feedback initialization

  • (feature) Adds Trackings to Planner supported goal_point input types

  • (fix) Adds action description to set_algorithm action

  • (feature) Adds support for Detections as Planner goal_point input

  • (fix) Updates Twist pubisher to match parent in sugarcoat

  • (feature) Adds components introspection and component actions description

  • (feature) Implements set_input and set_output method in component to be used by the base Launcher

  • (fix) Removes launcher module from kompass and migrates to upstream base launcher in sugarcoat

  • (fix) Uses _update_param method in controller algorithm change action

  • (feature) Adds PointsOfInterest to supported external data types

  • (feature) Allows multiple topics for Planner goal_point input

  • (fix) Adds check for reaching the target goal in timed planner execution

  • Contributors: ahr, aleph-ra, mkabtoul

0.4.1 (2026-02-16)

  • (fix) Fixes TwistStamped callback

  • (fix) Updates turtlebot3 recipe

  • (chore) Adds missing config imports from kompass core

  • (fix) Adds wait time for fetching inputs on acion execution

  • (chore) Adds prompt for llms.txt context ingestion

  • (chore) Adds minimum version check for sugarcoat to init

  • (refactor) Fixes imports from sugarcoat

  • (refactor) Removes events module and updates imports from sugarcoat

  • Contributors: ahr, mkabtoul

0.4.0 (2026-01-07)

  • (chore) Adds version check for kompass-core

  • (fix) Uses new PointFieldType for emergency stop checking with point cloud data

  • (fix) Removes assertion from pointcloud callback and gives a warning

  • (fix) Adds pure pursuit config class to control module

  • (fix) Adds warning message for unsupported configuration in drive manager

  • (feature) Adds global map server to turtlebot3 recipe

  • (fix) Adds missing header frame to global path publisher

  • (feature) Enables using pure pursuit controller from kompass-core

  • (fix) Fixes TwistStamped converter

  • (fix) Updates drive manager to enable using point cloud data directly in critical zone check

  • Contributors: ahr, aleph-ra, mkabtoul

0.3.3 (2025-11-30)

  • (fix) Updates critical zone checker initialization to match kompass core

  • (feature) Adds robot_plugin argument to launcher

  • (fix) Fixes command publishing pre-processor

  • (fix) Fixes topic update from file

  • (feature) Enables using robot plugin in drive manager

  • (fix) Fixes image size update in callback

  • (fix) Moves external callbacks to new module and inherets from external callback classes

  • (fix) Fixes update attribute name in BaseComponentConfig attrs class

  • Contributors: ahr, mkabtoul

0.3.2 (2025-10-03)

  • (fix) Removes Scipy dependency from DriveManager

  • (docs) Adds MapServer docs

  • (feature) Adds map server for serving static global map

  • Contributors: ahr, mkabtoul

0.3.1 (2025-09-02)

  • (fix) Adds ‘reached_end’ publishing in Planner

  • (feature) Simplifies pointcloud callback as its processing is handled in kompass core and changes local mapper to take pointcloud data

  • (fix) Adds missing inputs/outputs keys serialization in component

  • (feature) Adds option to enable emergency stop usage in DriveManager without 360 scan

  • (fix) Fixes list inputs parsing in component

  • (feature) Adds PointCloud2 to DriveManager and Mapper allowed inputs

  • Contributors: ahr, mkabtoul

0.3.0 (2025-07-02)

  • (fix) Fixes image size check in callback

  • (feature) Adds config parameter for core algorithm logging level in Component

  • (fix) Moves vision controller setup to component start

  • (fix) Removes redundant cmd_rate parameter and adds emergecy_checker warmup

  • (docs) Updates docs, docstrings and add chinese and japanese README

  • (feature) Adds config parsing from json, toml and yaml

  • (fix) Fixes vision follower setup

  • (feature) Adds CLI and updates docs

  • (feature) Adds buffer size to detections callback

  • (fix) Moves emergency stop checking from lidar callback to publish method to include command direction

  • (feature) Updates Controller to use both RGB and RGBD based vision followers

  • (fix) Adds wait for incoming detections in VisionFollower action server

  • (fix) Adds logging info in unblocking action

  • (feature) Updates controller to use new detections message from embodied-agents (includeing Depth)

  • (feature) Adds tracking by label to vision tracking action server

  • (fix) Adds timestamp to detections callback

  • (feature) Adds slowdown factor to DriveManager

  • (feature) Sets vision tracking initial target directly from label in action request

  • (fix) Fixes minor errors in controller action server

  • (fix) Fixes commands parallel publishing in controller and drive manager

  • (fix) Adds inputs check to vision tracking action server

  • (fix) Minor fix in controller’s twist array publish mode

  • (feature) Updates controller component to use VisionDWA from core

  • (feature) Adds ‘debug’ mode to controller component

  • (feature) Adds local map debug to controller

  • (fix) Fixes rate in loop sleep time

  • (fix) Fixes init usage of CriticalZoneCheckerGPU

  • (feature) Uses critical zone checker directly from kompass_cpp

  • (feature) Moves laserscan tf to be executed inside the emergency checker in Cpp

  • (feature) Moves laserscan transformation from callback to kompass-core

  • (fix) Fixes parsing local plan in controller

  • (fix) Treats both numpy arrays and lists in init_twist_array

  • (fix) Uses main_goal_lock in controller action callback and fixes activation based on mode

  • (fix) Fixes action cencellation on new coming action

  • (fix) Fixes emergency stop direction

  • (fix) Handles empty global paths in controller

  • (feature) Updates DriveManager to use EmergencyChecker from kompass_core

  • (fix) Sets detections buffer size from config

  • (chore) Adds error message for kompass-core installation when not found

  • (fix) Fixes setting new buffer size in DetectionsCallback

  • (feature) Adds map resolution set in controller from map callback metadata

  • (fix) Executes emergency stop check only if enabled in config

  • (fix) Minor fix for python3.8 compatibility

  • (feature) Adds message buffer to Detections/Trackings callbacks

  • Contributors: ahr, mkabtoul

0.2.1 (2025-01-28)

  • (fix) Adds controller custom on activate method

  • (fix) Updates controller activation method

  • (fix) Adds ompl exception catch and log

  • (fix) Recreates all subscribers at mode change

  • (feature) Fixes set_algorithm for online mode switch

  • (feature) Adds TwistStamped to supported types

  • (fix) Fixes imports and error in webots_ros2 implementation

  • (docs) Updates vision tracking tutorial

  • (fix) Adds a list of input/output topics containing None defaults

  • (feature) Adds support for ‘None’ default values of inputs/outputs

  • (docs) Adds VisionFollower docs and updates docstrings

  • (feature) Adds wait to vision target following callback

  • (feature) Adds Detections callback

  • (feature) Adds support for lists in topics dictionary and adds doc-strings

  • (feature) Adds wait time to get vision tracking in callback loop

  • (fix) Sets control callback rate to control time step

  • (feature) Updates control classes and supported types

  • (feature) Add wait time for vision tracking input in action callback

  • (feature) Adds component for visualization

  • (feature) Adds Detections to supported types

  • (feature) Adds vision object tracking to controller

  • (feature) Adds control publishing options to Controller (#32) Adds parallel and array publish options to Controller and updates docs

  • (docs) Adds default parameters for each control algorithm

  • (fix) Exposes max_num_threads parameter for DWA controller in turtlebot example

  • (fix) Updates path last cost in Planner and testing params

  • (feature) Adds command execution in closed loop to DriveManager

  • (feature) Adds option to select controller commands publishing type Select to publish the control commands in a new thread or to publish a TwistArray

  • Contributors: ahr, mkabtoul

0.2.0 (2024-10-25)

  • (feature) Minor updates (#31)

  • (feature) Adds minor updates/fixes for latest ros sugar release

  • (feature) Updates drive manager to use new laserscan methods

  • (feature) Adds unblocking actions to DriveManager (#30)

  • (fix) Adds return False when unblocking action is not possible

  • (chore) Adds note to planner

  • (fix) Fixes control command type hint in drive manager

  • (fix) Fixes publishing action feedback in planner

  • (feature) Adds RVIZ launch file and updates testing params

  • (fix) Fixes tracked point publishing in controller

  • (feature) Exposes robot motion actions in drive manager used for robot unblocking

  • (feature) Adds unblocking actions forward/backward/rotate in drive manager based on laserscan data

  • (fix) Adds debug logging and fixes loop rate in planner action server callback

  • (fix) Fixes reached_end check in controller

  • (feature) Adds local mapper component (#29) * (feature) Adds LocalMapper component * (fix) Updates commands queue clear in controller * (fix) Fixes imports and launcher init to match latest ros_sugar update * (fix) Adds missing dependencies and updates rviz config file * (docs) Adds more details to events/action tutorial in docs and updates docstrings * (docs) Minor updates in docs tutorials * (docs) Updates mapper inputs and adds docs * (docs) Adds documentation for supported data types * (docs) Updates url links to ros_sugar docs * (docs) Fixes minor typo * (docs) Removes apidocs and updates gitignore

  • (refactor) Updates imports from ros_sugar (#28)

  • (feature) Adds option to toggle parallel publishing of commands in controller (#27) * Adds option in Controller to turn on/off publishing commands in parallel * Updates Laserscan processing in callback * Updates turtulebot3 test recipe * Removes unused import and fixes method return type hint

  • (feature) Adds local map input to the controller and updates docs (#26) * (feature) Sends controller commands to robot in parallel to control loop * (feature) Adds commands queue to handle sending commands to the robot from the controller * Updates test parameters * Imports callbacks/datatypes from ros_sugar * Updates DriveManager and api docs * Updates controller docs

  • (fix) Adds correct paths for params in simulation launch files Changes version number according to ROS convention

  • Initial release 0.1.1a

  • Contributors: ahr, mkabtoul