Components and main C++ classes

Overview and main C++ classes for components. Please check detail explanation of those class and other classes in C++ Documentation

Drives

Drives provides feature to control robot.

Custom robot movment class should be created as child class of RobotVehicleMovementComponent

Custom joint class should be created as child class of RRJointComponent

example of class relations

main C++ classes

• MoveComponent

  • URobotVehicleMovementComponent

    Base Robot vehicle movement class, which is used as part of ARRBaseRobot and is controled by ROS 2 Twist Msg via URRRobotROS2Interface.

    This moves robot without considering physics and publish odometry.

    This supports adapting the robot pose to floor complex surfaces, and following moving platforms such as elevators.

    Example robots are BP_TurtlebotBurgerVehicle and BP_TurtlebotWaffleVehicle.

  • UDifferentialDriveComponent

    Simulate differential drive with 2 wheels considering physics.

    Example robots are BP_TurtlebotBurger and BP_TurtlebotWaffle.

• JointComponent

  • URRJointComponent

    Base Joint class which is used as part of ARRBaseRobot and is controlled by ROS 2 JointState Msg via URRRobotROS2Interface

  • URRKinematicJointComponent

    Kinematics Joint Component which has pose and velocity control interface.

    Joint are teleported with maximum speed with every tick.

    Example robot is BP_KinematicSimpleArm

  • URRPhysicsJointComponent

    Physics Joint Component which has UPhysicsConstraintComponent and pose/velocity control interface.

    Control inputs are passed to following method of UPhysicsConstraintComponent

    • SetLinearPositionTarget

    • SetLinearVelocityTarget

    • SetAngularOrientationTarget

    • SetAngularVelocityTarget

    There is a parameter named bSmoothing Control inputs are interpolated if this param set true.

    Example robot is BP_PhysicsUR10

    reference:

    • UPhysicsConstraintComponent

    • Constraints User Guide

Sensors

Sensor classes which can be used as stand alone actor or component of Robot.

RRROS2<sensor name>Component class is designed to used as part of robot.

RRROS2<sensor name>Actor class is designed to used as stand alone actor and ROS node.

example of class relations

main C++ classes

• URRROS2BaseSensorComponent

  Base ROS 2 Sensor Component class.

  Other sensors class should inherit from this class. Uses BaseSensorPublisher class to publish ROS 2 msg.

• URRROS2CameraComponent

  ROS 2 Camera component, which uses USceneCaptureComponent2D and publishes ROS 2 Image Msg

• ARRROS2CameraActor

  Standalone camera actor which can be placed in the level with URRROS2CameraComponent.

• URR2DLidarComponent

  ROS 2 2D Lidar component, which publishes ROS 2 LaserScan Msg

• URR3DLidarComponent

  ROS 2 3D Lidar component, which publishes ROS 2 PointCloud2 Msg

main Blueprint classes classes

• BP_Lidar_* : Set parameters for specific lidar products.

Robots

Please check Overview: Robot and GameMode and Robots

Core

Core has base classes which are directly or indirectly used by other components in RapyutaSimulationPlugins Plugins.

Core also has util classes as well.

example of class relations

main C++ classes(todo)

• Game objects

  • ARRROS2GameMode

    Basic GameMode which provides basic ROS 2 interfaces such as clock publisher and spawn services.

  • URRLimitRTFFixedSizeCustomTimeStep

    Controls simulation with fixed timestep and limiting RTF(Real Time Factor).

    This is child class of UEngineCustomTimeStep

• Utils

  • URRConversionUtils

    Data Conversion between ROS and UE. m <-> cm and Left handed <-> Right handed.

  • URRGeneralUtils

    Other utils which do not belong to other utils.

• Network(Pleae check Distrubuted Simulation)

  • ARRNetworkGameMode

    Provides feature to post login procesure for ARRNetworkPlayerController.

  • ARRNetworkPlayerController

    Provides functionality for client-server such as sync clock, RPC call to sync robot movement and create ROS 2 Node in the each clients.

Tools

Offline and runtime tools.

URRROS2<msg name or others>Publisher class is publisher of a specific msg type or purpose. Child class of UROS2Publisher.

main C++ classes

• URRROS2SimulationstateClient

  Provide spawn/delete/attach/set/get ROS 2 interfaces. Typically this class is initialized from GameMode.

• ASimulationState

  Has implementation of spawn/delete/attach/set/get ROS 2 interfaces. Communicate with URRROS2SimulationstateClient to execute manipulation.

• URRROS2ClockPublisher

  Publish /clock topic. Typically this class is initialized from GameMode.

• OccupancyMapGenerator

  Generate 2D occupancy map for navigation/localization.

• URRROS2BaseSensorPublisher

  Base Sensor Publisher class. Other sensor publisher class should inherit from this class.

Other Experimentals

• General

  • ARRGameMode: GameMode with asset loading and scene

  • ARRBaseActor: Base actor class for all Rapyuta Sim actors which has pointer to RRGame* objects and ARRActorCommon.

  • URRCoreUtils: todo

• Asset Loading

  This is used to load asset at runtime as well. This is designed to create/spawn robot asset dynamically.

  • URRGameSingleton: GameSingleton with Asset loading.

• Scene(for Data Generation)

  Scene is the concept to separate same level into multiple areas. Scnes has SceneDirector, SceneInstance, RRGamePlayer and URRActorCommon and mainly used for data generation.

  • ARRSceneDirector:

  • URRActorCommon: Common Actor shared among actors in the specific scene.

  • ARRGamePlayer: Player Controller with camera for Data generation app

  • ARRGameState: GameState for Data Generation.

• Mesh

  MeshComponent with utils to be used for Asset loading and data generation.

  • ARRMeshActor: Mesh actor with list of UMeshComponent

  • URRStaticMeshComponent

  • URRProceduralMeshComponent

• Robot

  • Skeletal Turtlebot3: Physics-enabled skeletal mesh component-based turtlebot3 robots of types:

    • BallCasterSphereWheeled : With ball caster sphere wheel

    • ConvexWheeled : Wheels have convex-hull collision

    • SphereWheeled : Wheels have sphere collision

    • StaticMeshConstrained : Built from separate static mesh components connected to one another by physics constraints

    • FullLockConstrained : All physics constraints are locked

    • WheeledVehicle : Utilize SimpleWheeledVehicleMovement

    • SkeletalTurtlebot3Examples level: Have all example skeletal robots being put to automatically move forward upon Play