Kompass Developer Docs

Kompass is the navigation layer of the EMOS ecosystem. It provides GPU-accelerated planning, control, and drive management for autonomous mobile robot navigation on ROS 2.

This site contains developer documentation for contributors extending the framework with new components, algorithms, or integrations.

Looking for usage documentation?

Tutorials, installation guides, and usage documentation are on the EMOS Documentation site.

Extend & Customize

Control Algorithms

Add new path-following or vision-based control algorithms in Python or C++.

Adding a New Control Algorithm
Custom Components

Build new ROS 2 lifecycle components with managed I/O, events, and health monitoring.

Creating a Custom Navigation Component
Advanced Components

Health status reporting, fallback triggers, event/action system, and component lifecycle hooks.

Advanced: Health Status, Fallbacks & Events
Data Types & I/O

Custom callbacks, publishers, processing pipelines, and the SupportedType registration system.

Data Types, Callbacks & Publishers
CLI Reference

Query available algorithms, inspect default parameters, and check GPU accelerator support.

CLI Tool Reference

Architecture, Algorithms & Integrations

Architecture & Algorithm References

Links to the canonical EMOS documentation for system design, algorithm details, benchmarks, and integrations.

Architecture & Algorithm References