Interfaces API

Scope

• omninav/interfaces/python_api.py

• omninav/interfaces/gym_wrapper.py

• omninav/interfaces/ros2/bridge.py

• omninav/interfaces/ros2/components.py

• omninav/interfaces/ros2/adapter.py

OmniNavEnv

Source: python_api.py

Core lifecycle:

• __init__(cfg | config_path/config_name/overrides)

• reset()

• step(actions=None)

• get_result()

• close()

Useful properties:

• is_done

• step_count

• sim_time

• map_service

OmniNavGymWrapper

Source: gym_wrapper.py

Usage:

• Gymnasium-compatible wrapper over OmniNavEnv

ROS2 bridge

Main bridge:

• ROS2Bridge in bridge.py

Components:

• publishers/subscribers in components.py

• conversion helpers in adapter.py

Related demos:

• rviz_sensor_demo.py

• nav2_bridge_demo.py