Base Robot ROS 2 interface class. More...

#include <RRRobotROS2Interface.h>

Inheritance diagram for URRRobotROS2Interface:

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Collaboration diagram for URRRobotROS2Interface:

Public Member Functions
virtual void	GetLifetimeReplicatedProps (TArray< FLifetimeProperty > &OutLifetimeProps) const override
	Returns the properties used for network replication, this needs to be overridden by all actor classes with native. More...

virtual void	Initialize (AActor *Owner) override
	Initialize robot's ROS 2 interface by calling InitRobotROS2Node, InitPublishers, InitSubscriptions and ARRBaseRobot::InitSensors. More...

virtual void	InitInterfaces () override
	Init publishers, subscribers, service clients, service servers, action clients, and action servers. More...

virtual void	DeInitialize () override
	DeInitialize robot's ROS 2 interface by stopping publisher. More...

virtual void	InitROS2NodeParam (AActor *Owner) override
	Spawn ROS2 Node, and initialize it if ROS2 Node = nullptr. More...

virtual void	JointCmdCallback (const UROS2GenericMsg *Msg)
	Move robot joints by setting position or velocity to Pawn(=Robot) with given ROS 2 msg. More...

void	UpdateJointState (UROS2GenericMsg *InMessage)
	Update Joint State msg. More...

virtual bool	InitPublishers () override
	Initialize non sensor basic publishers such as odometry. More...

virtual bool	InitSubscriptions () override
	Initialize subscriptions for cmd_vel & joint_states topics. More...

virtual void	MovementCallback (const UROS2GenericMsg *Msg)
	MoveRobot by setting velocity to Pawn(=Robot) with given ROS 2 msg. More...

Public Member Functions inherited from URRBaseROS2Interface
virtual bool	IsSupportedForNetworking () const override

void	GetLifetimeReplicatedProps (TArray< FLifetimeProperty > &OutLifetimeProps) const override
	Returns the properties used for network replication, this needs to be overridden by all actor classes with native. More...

void	BPInitialize ()
	AdditionalInitialization implemented in BP. More...

virtual void	InitRobotROS2Node (AActor *Owner)
	Spawn ROS2Node and initialize it. More...

virtual void	SetupROSParams ()
	Setup ROS Params, overridable by child classes to config custom ROS 2 Interface's params. More...

void	BPSetupROSParams ()
	Setup ROS params called after SetupROSParams. override by BP child class to config custom ROS 2 Interface's params. More...

void	SetupROSParamsAll ()
	Call SetupROSParams and BPSetupROSParams. More...

virtual void	StopPublishers ()
	Stop all publishers. More...

virtual bool	InitServiceClients ()
	Initialize service clients. More...

virtual bool	InitServiceServers ()
	Initialize service servers. More...

virtual bool	InitActionClients ()
	Initialize action clients. More...

virtual bool	InitActionServers ()
	Initialize action servers. More...

Public Attributes
TObjectPtr< ARRBaseRobot >	Robot = nullptr
	Target robot. More...

TObjectPtr< URRBaseOdomComponent >	OdomComponent = nullptr
	Odometry source. More...

bool	bPublishOdom = true

bool	bPublishOdomTf = false

float	OdomPublicationFrequencyHz = 30

FString	CmdVelTopicName = TEXT("cmd_vel")
	Movement command topic. If empty is given, subscriber will not be initiated. More...

FString	JointCmdTopicName = TEXT("ue_joint_commands")
	Joint control command topic. If empty is given, subscriber will not be initiated. More...

TObjectPtr< UROS2Publisher >	JointStatePublisher = nullptr
	JointState Publisher. More...

float	JointStatePublicationFrequencyHz = 30.f
	Joint control command topic. If empty is given, subscriber will not be initiated. More...

FString	JointStateTopicName = TEXT("ue_joint_states")
	Joint state topic. More...

bool	bWarnAboutMissingLink = true

TObjectPtr< URRROS2TFsPublisher >	JointsTFPublisher = nullptr

bool	bPublishJointTf = false

float	JointTfPublicationFrequencyHz = 1.f

TObjectPtr< URRROS2OdomPublisher >	OdomPublisher = nullptr
	Odom publisher. More...

Public Attributes inherited from URRBaseROS2Interface
TObjectPtr< UROS2NodeComponent >	RobotROS2Node = nullptr
	ROS 2 node of this interface created by InitRobotROS2Node. More...

TObjectPtr< UROS2Spawnable >	ROSSpawnParameters = nullptr
	ROS2SpawnParameters which is created when robot is spawn from /SpawnEntity srv provided by ASimulationState. More...

FString	DefautlROSNamespace = TEXT("")
	Defautl ROS namespace. More...

TMap< FString, UROS2Publisher * >	Publishers
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2Subscriber * >	Subscribers
	You can add your subscribers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ServiceClient * >	ServiceClients
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ServiceServer * >	ServiceServers
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ActionClient * >	ActionClients
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ActionServer * >	ActionServers
	You can add your publishers here to ask ROS2Interface to manage. More...

Protected Member Functions
template<typename TROS2Message , typename TROS2MessageData , typename TRobot , typename TRobotMemFuncType = void (TRobot::*)(const TROS2MessageData&)>
FORCEINLINE void	OnMessageReceived (const TROS2Message *InMsg, const TRobotMemFuncType &InMemFunc)

template<typename TROS2Message , typename TROS2MessageData , typename TRobot >
FORCEINLINE void	OnMessageReceivedFunc (const TROS2Message *InMsg, const TFunction< void(const TROS2MessageData &)> &InFunc)

template<typename TService , typename TServiceRequest >
void	MakeServiceRequest (const FString &InServiceName, const TServiceRequest &InRequest)

Detailed Description

Base Robot ROS 2 interface class.

This class owns ROS2Node and controls ROS 2 interfaces of the Robot, by

Providing ROS 2 subscribers to control robot joints and movement
Providing Odometry publisher.
Controling URRROS2BaseSensorComponent in ARRBaseRobot.

Please create child class of this class to custom ROS2Interface which have your own ROS2Interfaces.

Todo:: add handling of service and action.

UCLASS(Blueprintable, EditInlineNew)

Member Function Documentation

◆ DeInitialize()

virtual void URRRobotROS2Interface::DeInitialize ( )

overridevirtual

DeInitialize robot's ROS 2 interface by stopping publisher.

Parameters

InRobot

Reimplemented from URRBaseROS2Interface.

◆ GetLifetimeReplicatedProps()

virtual void URRRobotROS2Interface::GetLifetimeReplicatedProps ( TArray< FLifetimeProperty > & OutLifetimeProps ) const

overridevirtual

Returns the properties used for network replication, this needs to be overridden by all actor classes with native.

replicated properties

Parameters

OutLifetimeProps Output lifetime properties

◆ Initialize()

virtual void URRRobotROS2Interface::Initialize ( AActor * Owner )

overridevirtual

Initialize robot's ROS 2 interface by calling InitRobotROS2Node, InitPublishers, InitSubscriptions and ARRBaseRobot::InitSensors.

This method is mainly used by #ARRBaseoRbotROSController via ARRBaseRobot::InitROS2Interface.

Parameters

InRobot

Reimplemented from URRBaseROS2Interface.

◆ InitInterfaces()

virtual void URRRobotROS2Interface::InitInterfaces ( )

overridevirtual

Init publishers, subscribers, service clients, service servers, action clients, and action servers.

Reimplemented from URRBaseROS2Interface.

◆ InitPublishers()

virtual bool URRRobotROS2Interface::InitPublishers ( )

overridevirtual

Initialize non sensor basic publishers such as odometry.

Overidden in child robot ROS 2 interface classes for specialized publishers.

Reimplemented from URRBaseROS2Interface.

◆ InitROS2NodeParam()

virtual void URRRobotROS2Interface::InitROS2NodeParam ( AActor * Owner )

overridevirtual

Spawn ROS2 Node, and initialize it if ROS2 Node = nullptr.

Parameters

Owner

Reimplemented from URRBaseROS2Interface.

◆ InitSubscriptions()

virtual bool URRRobotROS2Interface::InitSubscriptions ( )

overridevirtual

Initialize subscriptions for cmd_vel & joint_states topics.

Overidden in child robot ROS 2 interface classes for specialized topic subscriptions.

Reimplemented from URRBaseROS2Interface.

◆ JointCmdCallback()

virtual void URRRobotROS2Interface::JointCmdCallback ( const UROS2GenericMsg * Msg )

virtual

Move robot joints by setting position or velocity to Pawn(=Robot) with given ROS 2 msg.

Supports only 1 DOF joints.

Effort control is not supported.

See also: sensor_msgs/JointState

UFUNCTION()

◆ MakeServiceRequest()

template<typename TService , typename TServiceRequest >

void URRRobotROS2Interface::MakeServiceRequest	(	const FString &	InServiceName,
		const TServiceRequest &	InRequest
	)

inlineprotected

◆ MovementCallback()

virtual void URRRobotROS2Interface::MovementCallback ( const UROS2GenericMsg * Msg )

virtual

MoveRobot by setting velocity to Pawn(=Robot) with given ROS 2 msg.

Typically this receive Twist msg to move robot.

UFUNCTION()

◆ OnMessageReceived()

template<typename TROS2Message , typename TROS2MessageData , typename TRobot , typename TRobotMemFuncType = void (TRobot::*)(const TROS2MessageData&)>

FORCEINLINE void URRRobotROS2Interface::OnMessageReceived	(	const TROS2Message *	InMsg,
		const TRobotMemFuncType &	InMemFunc
	)

inlineprotected

◆ OnMessageReceivedFunc()

template<typename TROS2Message , typename TROS2MessageData , typename TRobot >

FORCEINLINE void URRRobotROS2Interface::OnMessageReceivedFunc	(	const TROS2Message *	InMsg,
		const TFunction< void(const TROS2MessageData &)> &	InFunc
	)

inlineprotected

◆ UpdateJointState()

void URRRobotROS2Interface::UpdateJointState ( UROS2GenericMsg * InMessage )

Update Joint State msg.

Parameters

InMessage

UFUNCTION()

Member Data Documentation

◆ bPublishJointTf

bool URRRobotROS2Interface::bPublishJointTf = false

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bPublishOdom

bool URRRobotROS2Interface::bPublishOdom = true

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bPublishOdomTf

bool URRRobotROS2Interface::bPublishOdomTf = false

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bWarnAboutMissingLink

bool URRRobotROS2Interface::bWarnAboutMissingLink = true

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ CmdVelTopicName

FString URRRobotROS2Interface::CmdVelTopicName = TEXT("cmd_vel")

Movement command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointCmdTopicName

FString URRRobotROS2Interface::JointCmdTopicName = TEXT("ue_joint_commands")

Joint control command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointStatePublicationFrequencyHz

float URRRobotROS2Interface::JointStatePublicationFrequencyHz = 30.f

Joint control command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointStatePublisher

TObjectPtr<UROS2Publisher> URRRobotROS2Interface::JointStatePublisher = nullptr

JointState Publisher.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ JointStateTopicName

FString URRRobotROS2Interface::JointStateTopicName = TEXT("ue_joint_states")

Joint state topic.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointsTFPublisher

TObjectPtr<URRROS2TFsPublisher> URRRobotROS2Interface::JointsTFPublisher = nullptr

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointTfPublicationFrequencyHz

float URRRobotROS2Interface::JointTfPublicationFrequencyHz = 1.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomComponent

TObjectPtr<URRBaseOdomComponent> URRRobotROS2Interface::OdomComponent = nullptr

Odometry source.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomPublicationFrequencyHz

float URRRobotROS2Interface::OdomPublicationFrequencyHz = 30

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomPublisher

TObjectPtr<URRROS2OdomPublisher> URRRobotROS2Interface::OdomPublisher = nullptr

Odom publisher.

UPROPERTY(Transient, BlueprintReadWrite, Replicated)

◆ Robot

TObjectPtr<ARRBaseRobot> URRRobotROS2Interface::Robot = nullptr

Target robot.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

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

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Robots/RRRobotROS2Interface.h

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ DeInitialize()

◆ GetLifetimeReplicatedProps()

◆ Initialize()

◆ InitInterfaces()

◆ InitPublishers()

◆ InitROS2NodeParam()

◆ InitSubscriptions()

◆ JointCmdCallback()

◆ MakeServiceRequest()

◆ MovementCallback()

◆ OnMessageReceived()

◆ OnMessageReceivedFunc()

◆ UpdateJointState()

Member Data Documentation

◆ bPublishJointTf

◆ bPublishOdom

◆ bPublishOdomTf

◆ bWarnAboutMissingLink

◆ CmdVelTopicName

◆ JointCmdTopicName

◆ JointStatePublicationFrequencyHz

◆ JointStatePublisher

◆ JointStateTopicName

◆ JointsTFPublisher

◆ JointTfPublicationFrequencyHz

◆ OdomComponent

◆ OdomPublicationFrequencyHz

◆ OdomPublisher

◆ Robot