Base ROS 2 Sensor Component class. Other sensors class should inherit from this class. More...

#include <RRROS2BaseSensorComponent.h>

Inheritance diagram for URRROS2BaseSensorComponent:

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Collaboration diagram for URRROS2BaseSensorComponent:

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Public Member Functions
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. More...

virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""), const UROS2QoS InQoS=UROS2QoS::SensorData)
	Create and initialize publisher and start sensor update by calling. More...

virtual void	CreatePublisher (const FString &InPublisherName=TEXT(""))
	Create a Publisher with SensorPublisherClass. More...

virtual void	PreInitializePublisher (UROS2NodeComponent *InROS2Node, const FString &InTopicName=TEXT(""))
	Set publish frequency, topic name and FrameId. More...

virtual void	InitializePublisher (UROS2NodeComponent *InROS2Node, const UROS2QoS InQoS=UROS2QoS::SensorData)
	Initialize Sensorpublisher by using UROS2Publisher's methods. More...

virtual void	Run ()
	Start timer to update and publish sensor data by using SetTimer. More...

virtual void	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

virtual void	SensorUpdate ()
	Update Sensor data. This method should be overwritten by child class. More...

virtual void	SetROS2Msg (UROS2GenericMsg *InMessage)
	Set sensor data to ROS 2 msg. This method should be overwritten by child class. More...

Public Attributes
TSubclassOf< UROS2Publisher >	SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()

URRROS2BaseSensorPublisher *	SensorPublisher = nullptr

TSubclassOf< UROS2GenericMsg >	MsgClass = UROS2GenericMsg::StaticClass()

FString	TopicName = TEXT("sensor_data")

FString	FrameId = TEXT("sensor_frame")

int32	PublicationFrequencyHz = 30

bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...

bool	bIsValid = true

Protected Attributes
FTimerHandle	TimerHandle

Detailed Description

Base ROS 2 Sensor Component class. Other sensors class should inherit from this class.

Provide features to initialize with UROS2NodeComponent

and initialize URRROS2BaseSensorPublisher.

UCLASS(ClassGroup = (Custom), Blueprintable, meta = (BlueprintSpawnableComponent))

Constructor & Destructor Documentation

◆ URRROS2BaseSensorComponent()

URRROS2BaseSensorComponent::URRROS2BaseSensorComponent ( )

Construct a new URRROS2BaseSensorComponent object.

Member Function Documentation

◆ CreatePublisher()

virtual void URRROS2BaseSensorComponent::CreatePublisher ( const FString & InPublisherName = TEXT("") )

virtual

Create a Publisher with SensorPublisherClass.

Parameters

InPublisherName If this is empty, publisher name become this component name + SensorPublisher.

UFUNCTION(BlueprintCallable)

◆ InitalizeWithROS2()

virtual void URRROS2BaseSensorComponent::InitalizeWithROS2	(	UROS2NodeComponent *	InROS2Node,
		const FString &	InPublisherName = `TEXT("")`,
		const FString &	InTopicName = `TEXT("")`,
		const UROS2QoS	InQoS = `UROS2QoS::SensorData`
	)

virtual

Create and initialize publisher and start sensor update by calling.

CreatePublisher, PreInitializePublisher, InitializePublisher and Run.

Parameters

InROS2Node	ROS2Node which this publisher belongs to
InPublisherName	Publisher component name
InTopicName	Topic name
InQoS	Topic QoS

See also: UROS2NodeComponent; ROS 2 QoS

UFUNCTION(BlueprintCallable)

Reimplemented in URRPoseSensorManager, and URRROS2OverlapSensorComponent.

◆ InitializePublisher()

virtual void URRROS2BaseSensorComponent::InitializePublisher	(	UROS2NodeComponent *	InROS2Node,
		const UROS2QoS	InQoS = `UROS2QoS::SensorData`
	)

virtual

Initialize Sensorpublisher by using UROS2Publisher's methods.

Parameters

InROS2Node	ROS2Node which this publisher belongs to
InQoS

See also: ROS 2 QoS

UFUNCTION(BlueprintCallable)

◆ PreInitializePublisher()

virtual void URRROS2BaseSensorComponent::PreInitializePublisher	(	UROS2NodeComponent *	InROS2Node,
		const FString &	InTopicName = `TEXT("")`
	)

virtual

Set publish frequency, topic name and FrameId.

if bAppendNodeNamespace == true, FrameId become ROS2Node's namespace + #FramId

Parameters

InROS2Node	ROS2Node which this publisher belongs to
InTopicName	If this is empty, topic name become TopicName.

UFUNCTION(BlueprintCallable)

Reimplemented in URRROS2CameraComponent, and URRBaseOdomComponent.

◆ Run()

virtual void URRROS2BaseSensorComponent::Run ( )

virtual

Start timer to update and publish sensor data by using SetTimer.

See also: SetTimer

UFUNCTION(BlueprintCallable)

Reimplemented in URR2DLidarComponent, and URR3DLidarComponent.

◆ SensorUpdate()

virtual void URRROS2BaseSensorComponent::SensorUpdate ( )

inlinevirtual

Update Sensor data. This method should be overwritten by child class.

UFUNCTION(BlueprintCallable)

Reimplemented in URRPoseSensorManager, URRROS2CameraComponent, URR2DLidarComponent, URR3DLidarComponent, URRROS2OverlapSensorComponent, URRBaseOdomComponent, URRROS2EntityStateSensorComponent, and URRROS2IMUComponent.

◆ SetROS2Msg()

virtual void URRROS2BaseSensorComponent::SetROS2Msg ( UROS2GenericMsg * InMessage )

inlinevirtual

Set sensor data to ROS 2 msg. This method should be overwritten by child class.

UFUNCTION(BlueprintCallable)

Reimplemented in URRROS2CameraComponent, URRROS2IMUComponent, URRROS2OverlapSensorComponent, URR2DLidarComponent, URRROS2EntityStateSensorComponent, URR3DLidarComponent, and URRROS2HitSensorComponent.

◆ Stop()

virtual void URRROS2BaseSensorComponent::Stop ( )

virtual

Stop timer to update and publish sensor data by using ClearTimer.

See also: ClearTimer

UFUNCTION(BlueprintCallable)

Member Data Documentation

◆ bAppendNodeNamespace

bool URRROS2BaseSensorComponent::bAppendNodeNamespace = true

Append namespace to FrameId or not.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bIsValid

bool URRROS2BaseSensorComponent::bIsValid = true

UPROPERTY(EditAnywhere, BlueprintReadOnly)

◆ FrameId

FString URRROS2BaseSensorComponent::FrameId = TEXT("sensor_frame")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ MsgClass

TSubclassOf<UROS2GenericMsg> URRROS2BaseSensorComponent::MsgClass = UROS2GenericMsg::StaticClass()

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ PublicationFrequencyHz

int32 URRROS2BaseSensorComponent::PublicationFrequencyHz = 30

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ SensorPublisher

URRROS2BaseSensorPublisher* URRROS2BaseSensorComponent::SensorPublisher = nullptr

UPROPERTY(BlueprintReadWrite)

◆ SensorPublisherClass

TSubclassOf<UROS2Publisher> URRROS2BaseSensorComponent::SensorPublisherClass = URRROS2BaseSensorPublisher::StaticClass()

UPROPERTY()

◆ TimerHandle

FTimerHandle URRROS2BaseSensorComponent::TimerHandle

protected

UPROPERTY()

◆ TopicName

FString URRROS2BaseSensorComponent::TopicName = TEXT("sensor_data")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2BaseSensorComponent.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ URRROS2BaseSensorComponent()

Member Function Documentation

◆ CreatePublisher()

◆ InitalizeWithROS2()

◆ InitializePublisher()

◆ PreInitializePublisher()

◆ Run()

◆ SensorUpdate()

◆ SetROS2Msg()

◆ Stop()

Member Data Documentation

◆ bAppendNodeNamespace

◆ bIsValid

◆ FrameId

◆ MsgClass

◆ PublicationFrequencyHz

◆ SensorPublisher

◆ SensorPublisherClass

◆ TimerHandle

◆ TopicName