RRBaseROS2Interface.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
#include "ROS2ServiceClient.h"
 
#include "Tools/ROS2Spawnable.h"
 
#include "Tools/RRROS2OdomPublisher.h"
 
#include "Tools/RRROS2TFPublisher.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRUObjectUtils.h"
 
#include "Sensors/RRBaseOdomComponent.h"
 
 
 
#include "RRBaseROS2Interface.generated.h"
 
 
 
class ARRBaseRobot;
 
class RAPYUTASIMULATIONPLUGINS_API URRBaseROS2Interface : public UObject
 
{
 
 
 
#define RR_ROBOT_ROS2_SUBSCRIBE_TO_TOPIC(InTopicName, InMsgClass, InCallback) \
 
    ROS2_CREATE_SUBSCRIBER(RobotROS2Node, this, InTopicName, InMsgClass, InCallback)
 
 
 
public:
 
    virtual bool IsSupportedForNetworking() const override
 
    {
 
        return true;
 
    }
 
 
 
    void GetLifetimeReplicatedProps(TArray<FLifetimeProperty>& OutLifetimeProps) const override;
 
 
 
 
 
 
    TObjectPtr<UROS2NodeComponent> RobotROS2Node = nullptr;
 
 
 
 
 
    TObjectPtr<UROS2Spawnable> ROSSpawnParameters = nullptr;
 
 
 
 
 
 
    FString DefautlROSNamespace = TEXT("");
 
 
 
    virtual void Initialize(AActor* Owner);
 
 
 
    virtual void InitInterfaces();
 
 
 
    void BPInitialize();
 
 
 
    virtual void DeInitialize();
 
 
 
    virtual void InitRobotROS2Node(AActor* Owner);
 
 
 
    virtual void InitROS2NodeParam(AActor* Owner);
 
 
 
    virtual void SetupROSParams(){};
 
 
 
    void BPSetupROSParams();
 
 
 
    void SetupROSParamsAll()
 
    {
 
        SetupROSParams();
 
        BPSetupROSParams();
 
    }
 
 
 
 
 
 
    TMap<FString, UROS2Publisher*> Publishers;
 
 
 
 
 
 
    TMap<FString, UROS2Subscriber*> Subscribers;
 
 
 
 
 
 
    TMap<FString, UROS2ServiceClient*> ServiceClients;
 
 
 
 
 
 
    TMap<FString, UROS2ServiceServer*> ServiceServers;
 
 
 
 
 
 
    TMap<FString, UROS2ActionClient*> ActionClients;
 
 
 
 
 
 
    TMap<FString, UROS2ActionServer*> ActionServers;
 
 
 
    virtual bool InitPublishers();
 
 
 
    virtual void StopPublishers();
 
 
 
    virtual bool InitSubscriptions();
 
 
 
    virtual bool InitServiceClients();
 
 
 
    virtual bool InitServiceServers();
 
 
 
    virtual bool InitActionClients();
 
 
 
    virtual bool InitActionServers();
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRBaseROS2InterfaceComponent : public UActorComponent
 
{
 
public:
 
    virtual void BeginPlay() override;
 
 
 
 
    TObjectPtr<URRBaseROS2Interface> ROS2Interface = nullptr;
 
 
 
 
    TSubclassOf<URRBaseROS2Interface> ROS2InterfaceClass = URRBaseROS2Interface::StaticClass();
 
 
 
 
 
 
    void AddAllSubComponentToROSInterface();
 
};