RapyutaSimulationPlugins: ARRAIRobotROSController Class Reference

◆ AddLocalLinearMotionOffset()

virtual bool ARRAIRobotROSController::AddLocalLinearMotionOffset	(	const FVector &	InPosition,
		const bool	InReset = `true`
	)

protectedvirtual

Set the relative Linear Motion Target from current location and start moving.

Parameters

InPosition
InReset

Returns: true; false

◆ AddLocalLinearMotionOffsetWthDelegates()

virtual bool ARRAIRobotROSController::AddLocalLinearMotionOffsetWthDelegates	(	const FVector &	InPosition,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		const float	InLinearMotionTolerancee = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

protectedvirtual

Set the relative Linear Motion Target from current location and start moving. InOnSuccess or InOnFail is called when it completed.

Parameters

InPosition
InOnSuccess
InOnFail
InLinearMotionTolerancee
InTimeOut

Returns: true; false

◆ AddLocalOrientationOffset()

virtual bool ARRAIRobotROSController::AddLocalOrientationOffset	(	const FRotator &	InOrientation,
		const bool	InReset = `true`
	)

protectedvirtual

Set the relative Orientation Target from current location and start rotating.

Parameters

InOrientation
InReset

Returns: true; false

◆ AddLocalOrientationOffsetWthDelegates()

virtual bool ARRAIRobotROSController::AddLocalOrientationOffsetWthDelegates	(	const FRotator &	InOrientation,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

protectedvirtual

Set the relative Orientation Target from current location and start rotating. InOnSuccess or InOnFail is called when it completed.

Parameters

InOrientation
InOnSuccess
InOnFail
InOrientationTolerance
InTimeOut

Returns: true; false

◆ CheckController()

static ARRAIRobotROSController* ARRAIRobotROSController::CheckController ( APawn * TargetPawn )

staticprotected

Check controller is child class of ARRAIRobotROSController or not.

Parameters

TargetPawn

Returns: ARRAIRobotROSController*

◆ GetOrigin()

virtual FTransform ARRAIRobotROSController::GetOrigin ( )

virtual

Return origin transform from OriginActor or Origin.

◆ HasReachedLinearMotionTarget() [1/2]

virtual bool ARRAIRobotROSController::HasReachedLinearMotionTarget ( const float InLinearMotionTolerance = -1.0 )

protectedvirtual

Check location reach the target location and call InOnSuccess or InOnFail if it reach target.

Parameters

InLinearMotionTolerance If minus values are given, LinearMotionTolerance will be used.

Returns: true; false

◆ HasReachedLinearMotionTarget() [2/2]

virtual bool ARRAIRobotROSController::HasReachedLinearMotionTarget	(	const FVector	InLinearMotionTarget,
		const float	InLinearMotionTolerance = `-1.0`
	)

protectedvirtual

Check location reach the target location.

Parameters

InLinearMotionTarget
InLinearMotionTolerance	If minus values are given, LinearMotionTolerance will be used.

Returns: true; false

◆ HasReachedOrientationTarget() [1/2]

virtual bool ARRAIRobotROSController::HasReachedOrientationTarget ( const float InOrientationTolerance = -1.0 )

protectedvirtual

Check orientation reach the target orientation and call InOnSuccess or InOnFail if it reach target.

Parameters

InOrientationTolerance If minus values are given, OrientationTolerance will be used.

Returns: true; false

◆ HasReachedOrientationTarget() [2/2]

virtual bool ARRAIRobotROSController::HasReachedOrientationTarget	(	const FRotator	InOrientationTarget,
		const float	InOrientationTolerance = `-1.0`
	)

protectedvirtual

Check orientation reach the target orientation.

Parameters

InOrientationTarget
InOrientationTolerance	If minus values are given, OrientationTolerance will be used.

Returns: true; false

◆ InitPropertiesFromJSON()

bool ARRAIRobotROSController::InitPropertiesFromJSON ( )

Init propertiese from JSON which is used when pawn is spawned from ROS2 spawn entity service.

◆ InitROS2Interface()

void ARRAIRobotROSController::InitROS2Interface ( )

protected

Initialize Parameter and start timer to call InitROS2InterfaceImpl.

◆ InitROS2InterfaceImpl()

bool ARRAIRobotROSController::InitROS2InterfaceImpl ( )

protected

Create publishers and subscribers.

◆ InProgress()

virtual bool ARRAIRobotROSController::InProgress ( )

protectedvirtual

is NavStatus IDLE or not

Returns: virtial

◆ LinearMoveToLocationWithDelegates()

virtual bool ARRAIRobotROSController::LinearMoveToLocationWithDelegates	(	const FVector &	Dest,
		const FRotator &	DestRotator,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		float	AcceptanceRadius = `-1`,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`,
		const FVector &	InOriginPosition = `FVector::ZeroVector`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

1)Rotate, 2) Move forward to Dest, 3) Rotate to DestRotator and call InOnSuccess or InOnFail. This does not use AIMove in UE but just rotate and linear movement.

Parameters

Dest
DestRotator
InOnSuccess
InOnFail
AcceptanceRadius
InOrientationTolerance
InTimeOut
InOriginPosition
InOriginRotator

Returns: true; false

◆ ModeUpdate()

virtual void ARRAIRobotROSController::ModeUpdate ( )

protectedvirtual

Mode transition function. This is called in Tick.

◆ MoveToActorWithDelegates()

virtual EPathFollowingRequestResult::Type ARRAIRobotROSController::MoveToActorWithDelegates	(	AActor *	Goal,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		float	AcceptanceRadius = `-1`,
		bool	bStopOnOverlap = `true`,
		bool	bUsePathfinding = `true`,
		bool	bCanStrafe = `true`,
		TSubclassOf< UNavigationQueryFilter >	FilterClass = `NULL`,
		bool	bAllowPartialPath = `true`,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`
	)

protectedvirtual

Rotate after AAIController::MoveToActor is completed and call InOnSuccess or InOnFail.

See also: AAIController::MoveToActor

Parameters

Goal
InOnSuccess
InOnFail
AcceptanceRadius
bStopOnOverlap
bUsePathfinding
bCanStrafe
FilterClass
bAllowPartialPath
InOrientationTolerance
InTimeOut

Returns: EPathFollowingRequestResult::Type

◆ MoveToLocationWithDelegates()

virtual EPathFollowingRequestResult::Type ARRAIRobotROSController::MoveToLocationWithDelegates	(	const FVector &	Dest,
		const FRotator &	DestRotator,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		float	AcceptanceRadius = `-1`,
		bool	bStopOnOverlap = `true`,
		bool	bUsePathfinding = `true`,
		bool	bProjectDestinationToNavigation = `false`,
		bool	bCanStrafe = `true`,
		TSubclassOf< UNavigationQueryFilter >	FilterClass = `NULL`,
		bool	bAllowPartialPath = `true`,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`,
		const FVector &	InOriginPosition = `FVector::ZeroVector`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

Rotate after AAIController::MoveToLocation is completed and call InOnSuccess or InOnFail.

See also: AAIController::MoveToLocation

Parameters

Dest
DestRotator
InOnSuccess
InOnFail
AcceptanceRadius
bStopOnOverlap
bUsePathfinding
bProjectDestinationToNavigation
bCanStrafe
FilterClass
bAllowPartialPath
InOrientationTolerance
InTimeOut
InOriginPosition
InOriginRotator

Returns: EPathFollowingRequestResult::Type

◆ OnMoveCompleted()

virtual void ARRAIRobotROSController::OnMoveCompleted	(	FAIRequestID	RequestID,
		const FPathFollowingResult &	Result
	)

overrideprotectedvirtual

◆ OnPossess()

virtual void ARRAIRobotROSController::OnPossess ( APawn * InPawn )

overrideprotectedvirtual

Initialize robot pawn by calling ARRBaseRobot::InitROS2Interface.

See also: OnPossess

Parameters

InPawn

Reimplemented from ARRBaseRobotROSController.

◆ OnUnPossess()

virtual void ARRAIRobotROSController::OnUnPossess ( )

overrideprotectedvirtual

Deinitialize robot pawn by calling ARRBaseRobot::DeInitROS2Interface.

See also: OnUnPossess

Reimplemented from ARRBaseRobotROSController.

◆ OrientationEquals()

virtual bool ARRAIRobotROSController::OrientationEquals	(	const FRotator	InOrientationTarget1,
		const FRotator	InOrientationTarget2,
		const float	InOrientationTolerance = `-1.0`
	)

protectedvirtual

Check InOrientationTarget1 and InOrientationTarget2 are equal.

Parameters

InOrientationTarget1
InOrientationTarget2
InOrientationTolerance	If minus values are given, OrientationTolerance will be used.

Returns: true; false

◆ PoseGoalCallback()

void ARRAIRobotROSController::PoseGoalCallback ( const UROS2GenericMsg * Msg )

protected

Call MoveToLocationWithDelegates with given msg.

Parameters

Msg

◆ PositionEquals()

virtual bool ARRAIRobotROSController::PositionEquals	(	const FVector	InLinearMotionTarget1,
		const FVector	InLinearMotionTarget2,
		const float	InLinearMotionTolerance = `-1.0`
	)

protectedvirtual

Check InLinearMotionTarget1 and InLinearMotionTarget2 are equal.

Parameters

InLinearMotionTarget1
InLinearMotionTarget2
InLinearMotionTolerance	If minus values are given, LinearMotionTolerance will be used.

Returns: true; false

◆ RandomUpdateGoalSequenceIndex()

bool ARRAIRobotROSController::RandomUpdateGoalSequenceIndex ( FTransform & OutGoal )

protected

Update GoalIndex randomly.

Returns: true if GoalSequence is not empty and GoalIndex is > 2; false

◆ ResetControl()

virtual void ARRAIRobotROSController::ResetControl ( )

protectedvirtual

Unbind delegates and reset status.

◆ SetAcceleration()

virtual bool ARRAIRobotROSController::SetAcceleration ( const float InAcceleration )

virtual

Set Acceleration to UFloatingPawnMovement.

◆ SetAngularVelCallback()

void ARRAIRobotROSController::SetAngularVelCallback ( const UROS2GenericMsg * Msg )

protected

Call SetRotationRate with given msg.

Parameters

Msg

◆ SetDelegates()

virtual void ARRAIRobotROSController::SetDelegates	(	const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		const float	InLinearMotionToleranc = `-1.0`,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0f`,
		const bool	Verbose = `false`
	)

protectedvirtual

Set Delegates for move to target.

Parameters

InOnControlSuccessDelegate	called when move to target success
InOnControlFailDelegate	called when move to target fail
InPositionTolerance	update #PositionTolerance if this is set >= 0.
InOrientationTolerance	update OrientationTolerance if this is set >= 0.
InTimeOut	if this is set less than 0, timeout won't happen.

◆ SetLinearMotionTarget()

virtual bool ARRAIRobotROSController::SetLinearMotionTarget	(	const FVector &	InPosition,
		const bool	InReset = `true`,
		const FVector &	InOriginPosition = `FVector::ZeroVector`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

Set the Linear Motion Target and start moving.

Parameters

InPosition
InReset
InOriginPosition
InOriginRotator

Returns: true; false

◆ SetLinearMotionTargetWthDelegates()

virtual bool ARRAIRobotROSController::SetLinearMotionTargetWthDelegates	(	const FVector &	InPosition,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		const float	InLinearMotionTolerancee = `-1.0`,
		const float	InTimeOut = `-1.0`,
		const FVector &	InOriginPosition = `FVector::ZeroVector`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

Set the Linear Motion Target and start moving. InOnSuccess or InOnFail is called when it completed.

Parameters

InPosition
InOnSuccess
InOnFail
InLinearMotionTolerancee
InTimeOut
InOriginPosition
InOriginRotator

Returns: true; false

◆ SetModeCallback()

void ARRAIRobotROSController::SetModeCallback ( const UROS2GenericMsg * Msg )

protected

Call SetMode with given msg.

Parameters

Msg

◆ SetOrientationTarget()

virtual bool ARRAIRobotROSController::SetOrientationTarget	(	const FRotator &	InOrientation,
		const bool	InReset = `true`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

Set the Orientation Target and start rotating.

Parameters

InOrientation
InReset
InOriginRotator

Returns: true; false

◆ SetOrientationTargetWthDelegates()

virtual bool ARRAIRobotROSController::SetOrientationTargetWthDelegates	(	const FRotator &	InOrientation,
		const FMoveCompleteCallback &	InOnSuccess,
		const FMoveCompleteCallback &	InOnFail,
		const float	InOrientationTolerance = `-1.0`,
		const float	InTimeOut = `-1.0`,
		const FRotator &	InOriginRotator = `FRotator::ZeroRotator`
	)

protectedvirtual

Set the Orientation Target and start rotating. InOnSuccess or InOnFail is called when it completed.

Parameters

InOrientation
InOnSuccess
InOnFail
InOrientationTolerance
InTimeOut
InOriginRotator

Returns: true; false

◆ SetRotationRate()

virtual bool ARRAIRobotROSController::SetRotationRate ( const float InRotationRate )

virtual

Set RotationRate toUCharacterMovementComponent.

See also: [UCharacterMovementComponent]https://docs.unrealengine.com/5.3/en-US/API/Runtime/Engine/GameFramework/UCharacterMovementComponent/

◆ SetSpeed()

virtual bool ARRAIRobotROSController::SetSpeed ( const float InSpeed )

virtual

Set Speed to UFloatingPawnMovement or UCharacterMovementComponent.

See also: [UFloatingPawnMovement]https://docs.unrealengine.com/5.2/en-US/API/Runtime/Engine/GameFramework/UFloatingPawnMovement/; [UCharacterMovementComponent]https://docs.unrealengine.com/5.3/en-US/API/Runtime/Engine/GameFramework/UCharacterMovementComponent/

◆ SetSpeedCallback()

void ARRAIRobotROSController::SetSpeedCallback ( const UROS2GenericMsg * Msg )

protected

Call SetSpeed with given msg.

Parameters

Msg

◆ Tick()

virtual void ARRAIRobotROSController::Tick ( float DeltaSeconds )

overrideprotectedvirtual

◆ UpdateControl()

virtual void ARRAIRobotROSController::UpdateControl ( float DeltaSeconds )

protectedvirtual

UpdateRotation and UpdateLinearMotion

Parameters

DeltaSeconds

◆ UpdateGoalSequenceIndex()

bool ARRAIRobotROSController::UpdateGoalSequenceIndex ( FTransform & OutGoal )

protected

Increment GoalIndex.

Returns: true; false if GoalSequence is empty.

◆ UpdateLinearMotion()

virtual void ARRAIRobotROSController::UpdateLinearMotion ( float DeltaSeconds )

protectedvirtual

Update linear motion when NavStatus is ERRAIRobotNavStatus::LINEAR_MOVING.

Parameters

DeltaSeconds

◆ UpdateNavStatus()

void ARRAIRobotROSController::UpdateNavStatus ( UROS2GenericMsg * InMessage )

protected

Update NavStatus msg before publishing.

Parameters

InMessage

◆ UpdateRotation()

virtual void ARRAIRobotROSController::UpdateRotation ( float DeltaSeconds )

protectedvirtual

Update oorientation motion when NavStatus is ERRAIRobotNavStatus::ROTATING.

Parameters

DeltaSeconds

Member Data Documentation

◆ ActorGoalTopicName

FString ARRAIRobotROSController::ActorGoalTopicName = TEXT("actor_goal")

UPROPERTY(VisibleAnywhere)

◆ AIMovePositionTarget

FVector ARRAIRobotROSController::AIMovePositionTarget

protected

Target position for AI movement.

◆ AngularVelocity

FVector ARRAIRobotROSController::AngularVelocity = FVector::ZeroVector

protected

UPROPERTY(VisibleAnywhere)

◆ bDebug

bool ARRAIRobotROSController::bDebug = false

debug flat

◆ bModeUpdate

bool ARRAIRobotROSController::bModeUpdate = true

protected

Mode transition in Tick.

◆ bTeleportOnFail

bool ARRAIRobotROSController::bTeleportOnFail = true

Teleport to target pose if robot can't reach target pose.

◆ Category

ARRAIRobotROSController::Category = "AI|Navigation"

protected

Rotate after AAIController::MoveToActor is completed and call InOnSuccess or InOnFail.

See also: AAIController::MoveToActor

Parameters

TargetPawn
Goal
InOnSuccess
InOnFail
AcceptanceRadius
bStopOnOverlap
bUsePathfinding
bCanStrafe
FilterClass
bAllowPartialPath
InOrientationTolerance
InTimeOut

Returns: EPathFollowingRequestResult::Type

◆ GoalIndex

int ARRAIRobotROSController::GoalIndex = 0

protected

Current goal index in GoalSequence used in ERRAIRobotMode::SEQUENCE and ERRAIRobotMode::RANDOM_SEQUENCE.

◆ GoalSequence

TArray<FTransform> ARRAIRobotROSController::GoalSequence

Goal sequence. This is used when Mode is ERRAIRobotMode::SEQUENCE and ERRAIRobotMode::RANDOM_SEQUENCE.

◆ LinearMotionTarget

FVector ARRAIRobotROSController::LinearMotionTarget = FVector::ZeroVector

Linear motion target in ERRAIRobotMode::LINEAR_MOVING.

◆ LinearMotionTolerance

float ARRAIRobotROSController::LinearMotionTolerance = 10.f

◆ LinearSpeed

float ARRAIRobotROSController::LinearSpeed = 100.f

protected

◆ meta

ARRAIRobotROSController::meta

protected

Initial value:

= (DefaultToSelf = "TargetPawn", AdvancedDisplay = "bStopOnOverlap,bCanStrafe,bAllowPartialPath"))
 
    static EPathFollowingRequestResult::Type MoveToActorWithDelegates(APawn* TargetPawn,
 
                                                                      AActor* Goal,
 
                                                                      const FMoveCompleteCallback& InOnSuccess,
 
                                                                      const FMoveCompleteCallback& InOnFail,
 
                                                                      float AcceptanceRadius = -1,
 
                                                                      bool bStopOnOverlap = true,
 
                                                                      bool bUsePathfinding = true,
 
                                                                      bool bCanStrafe = true,
 
                                                                      TSubclassOf<UNavigationQueryFilter> FilterClass = NULL,
 
                                                                      bool bAllowPartialPath = true,
 
                                                                      const float InOrientationTolerance = -1.0,
 
                                                                      const float InTimeOut = -1.0)

1)Rotate, 2) Move forward to Dest, 3) Rotate to DestRotator and call InOnSuccess or InOnFail. This does not use AIMove in UE but just rotate and linear movement.

Set the relative Linear Motion Target from current location and start moving. InOnSuccess or InOnFail is called when it completed.

Set the Linear Motion Target and start moving. InOnSuccess or InOnFail is called when it completed.

Set the relative Linear Motion Target from current location and start moving.

Set the Linear Motion Target and start moving.

Set the relative Orientation Target from current location and start rotating. InOnSuccess or InOnFail is called when it completed.

Set the Orientation Target and start rotating. InOnSuccess or InOnFail is called when it completed.

Set the relative Orientation Target from current location and start rotating.

Set the Orientation Target and start rotating.

Parameters

TargetPawn
Dest
DestRotator
InOnSuccess
InOnFail
AcceptanceRadius
InOrientationTolerance
InTimeOut
InOriginPosition
InOriginRotator

Returns: true; false

Parameters

TargetPawn
InOrientation
InReset
InOriginRotator

Returns: true; false

Parameters

TargetPawn
InOrientation
InReset

Returns: true; false

Parameters

TargetPawn
InOrientation
InOnSuccess
InOnFail
InOrientationTolerance
InTimeOut
InOriginRotator

Returns: true; false

Parameters

TargetPawn
InOrientation
InOnSuccess
InOnFail
InOrientationTolerance
InTimeOut

Returns: true; false

Parameters

TargetPawn
InPosition
InReset
InOriginPosition
InOriginRotator

Returns: true; false

Parameters

TargetPawn
InPosition
InReset

Returns: true; false

Parameters

TargetPawn
InPosition
InOnSuccess
InOnFail
InLinearMotionTolerancee
InTimeOut
InOriginPosition
InOriginRotator

Returns: true; false

Parameters

TargetPawn
InPosition
InOnSuccess
InOnFail
InLinearMotionTolerancee
InTimeOut

Returns: true; false

◆ Mode

ERRAIRobotMode ARRAIRobotROSController::Mode = ERRAIRobotMode::MANUAL

◆ MoveStartTime

float ARRAIRobotROSController::MoveStartTime = 0.f

protected

time when target pose/vel are set.

◆ MoveTimeout

float ARRAIRobotROSController::MoveTimeout = -1.0f

protected

timeout. If Pawn can't reach target in this duration, OnFail should be called.

used only with #SetPoseTargetWithDelegate if this is set less than 0, timeout won't happen.

◆ NavStatus

ERRAIRobotNavStatus ARRAIRobotROSController::NavStatus = ERRAIRobotNavStatus::IDLE

protected

◆ NavStatusPublicationFrequencyHz

float ARRAIRobotROSController::NavStatusPublicationFrequencyHz = 1

◆ NavStatusPublisher

TObjectPtr<UROS2Publisher> ARRAIRobotROSController::NavStatusPublisher = nullptr

Publisher of ERRAIRobotNavStatus.

◆ NavStatusTopicName

FString ARRAIRobotROSController::NavStatusTopicName = TEXT("nav_status")

◆ OnFail

FMoveCompleteCallback ARRAIRobotROSController::OnFail

protected

Delegate which is called whenjoint failed to reach target vel/pose.

◆ OnSuccess

FMoveCompleteCallback ARRAIRobotROSController::OnSuccess

protected

Delegate which is called when joint reach target vel/pose.

◆ OnSuccessInternal

FMoveCompleteCallbackStatic ARRAIRobotROSController::OnSuccessInternal

protected

Delegate which is called on action completed internally.

◆ OrientationTarget

FRotator ARRAIRobotROSController::OrientationTarget = FRotator::ZeroRotator

Orientation target in ERRAIRobotMode::ROTATING.

◆ OrientationTolerance

float ARRAIRobotROSController::OrientationTolerance = 5.f

[degree] tolerance for orientation control

◆ Origin

FTransform ARRAIRobotROSController::Origin = FTransform::Identity

Origin transform for move. This is used when Mode is ERRAIRobotMode::RANDOM_AREA, ERRAIRobotMode::SEQUENCE and ERRAIRobotMode::RANDOM_SEQUENCE.

◆ OriginActor

AActor* ARRAIRobotROSController::OriginActor = nullptr

Origin actor for move. This is used when Mode is ERRAIRobotMode::RANDOM_AREA, ERRAIRobotMode::SEQUENCE and ERRAIRobotMode::RANDOM_SEQUENCE.

◆ PoseGoalTopicName

FString ARRAIRobotROSController::PoseGoalTopicName = TEXT("pose_goal")

◆ RandomMoveBoundingBox

FVector ARRAIRobotROSController::RandomMoveBoundingBox = FVector::OneVector

Bounding box for random move. This is used when Mode is ERRAIRobotMode::RANDOM_AREA.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ ROS2InitTimer

FTimerHandle ARRAIRobotROSController::ROS2InitTimer

protected

Timer to call InitROS2Interface.

◆ RotationRate

float ARRAIRobotROSController::RotationRate = 90.f

protected

◆ SetAngularVelTopicName

FString ARRAIRobotROSController::SetAngularVelTopicName = TEXT("set_angular_vel")

◆ SetModeTopicName

FString ARRAIRobotROSController::SetModeTopicName = TEXT("set_mode")

◆ SetSpeedTopicName

FString ARRAIRobotROSController::SetSpeedTopicName = TEXT("set_speed")