🚀 Kompass v0.3.0 Release Notes
We’re excited to announce Kompass v0.3.0, a major update that brings powerful new features, expanded configurability, and numerous stability and performance fixes. From improved vision tracking to flexible configuration parsing and expanded emergency handling—Kompass is more intelligent, adaptable, and user-friendly than ever.
🌟 What’s New?
🧠 Smarter Vision-Based Control
- Hybrid RGB & RGB-D Vision Followers: The Controller now supports both RGB and RGB-D-based target following in its vision target tracking action server for better environmental awareness.
- New VisionDWA Integration: Unlocks advanced vision-aware motion planning using the latest GPU-accelerated VisionDWA algorithm from
kompass-core
in its RGB-D-based tracker. - Tracking by Label: Directly select an object to track from the scene by sending their label in the action server request, enabling smarter and more intuitive interaction.
- Initial Target Selection: Enables automatically setting the initial tracking target directly from the action request.
🧭 Enhanced Controller Options
- Debug Mode: A new
debug
mode and local map visualization give insight into planning and control decisions at runtime. - New Map Resolution Awareness: Controller can now set map resolution dynamically from map metadata.
🚗 Smarter & Safer DriveManager
- Emergency Stop Overhaul: Emergency stop logic has been refactored for more reliable, directional behavior. Now uses
EmergencyChecker
fromkompass-core
with laser scan transformation handled in C++ for higher performance. - GPU-Accelerated Safety: DriveManager now supports both GPU and CPU modes for emergency stop checks, unlocking more optimized performance.
⚙️ Configurability Like Never Before
- Multi-Format Config Parsing: Support for
.json
,.yaml
, and.toml
config files. Kompass now adapts to your preferred setup style. - Logging Level Control: Configure the core algorithm's logging level directly from component config.
- Dynamic Buffering: Detections and tracking callbacks now support buffer size configuration, both from file and at runtime.
🛠️ Command and Action Enhancements
- Robust Action Handling: Improved cancellation and activation logic for smoother behavior under dynamic workloads.
- Twist Array Fixes: Better compatibility with both
list
andnumpy
formats in twist array commands. - Parallel Command Publishing Fixes: Resolves race conditions in
DriveManager
andController
.
🐞 Fixes and Improvements
- More reliable emergency stop checking—moved to publish method for context-aware behavior.
- Vision tracking and follower setups are now correctly initialized and more resilient.
- CriticalZoneCheckerGPU and EmergencyChecker logic has been streamlined and migrated closer to the hardware for faster response.
- Added timestamping and input validation to detection/tracking callbacks.
- Python 3.8 compatibility and improved error reporting for missing
kompass-core
installations. - Reduced redundant parameters, cleaner initialization flows, and multiple minor bugfixes across the stack.
🌐 Internationalization
- 📘 Added Simplified Chinese and Japanese versions of the README to support our growing international developer community.
🔧 Developer Quality of Life
- 🔧 New CLI support for faster prototyping and testing.
- 🧪 Improved logging for unblocking actions and debugging critical control paths.
📦 Installation & Compatibility
Kompass 0.3.0 remains compatible with ROS 2 Humble and later, including Jazzy, Kilted and Rolling.
For full installation instructions, refer to the README.
📄 Full Changelog
Want to see everything that changed?
👉 Full Changelog: github.com/automatika-robotics/kompass/compare/0.2.1...0.3.0
🎉 Thank You!
This release is a result of invaluable feedback and collaboration with the open-source robotics community. Special thanks to all the research and OEM partners for helping us shape Kompass into the fastest and most flexible navigation stack for modern autonomous robots.
—
🔁 Ready to try it out?
Get started with the Quick Start Tutorial or dive into a detailed use case.