Provide ROS 2 interfaces to interact with UE4. This provide only ROS 2 interfaces and implementation is in ASimulationState. More...

#include <RRROS2SimulationStateClient.h>

Inheritance diagram for URRROS2SimulationStateClient:

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Collaboration diagram for URRROS2SimulationStateClient:

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Public Member Functions
virtual void	Init (UROS2NodeComponent *InROS2Node)
	Start ROSservices. More...

virtual bool	IsSupportedForNetworking () const override

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...

void	GetEntityStateSrv (UROS2GenericSrv *InService)
	Callback function of GetEntityState ROS 2 service. More...

void	SetEntityStateSrv (UROS2GenericSrv *InService)
	Callback function of SetEntityState ROS 2 service. More...

void	ServerSetEntityState (const FROSSetEntityStateReq &InRequest)
	RPC call to Server's SetEntityState. More...

void	AttachSrv (UROS2GenericSrv *InService)
	Callback function of Attach ROS 2 service. More...

void	ServerAttach (const FROSAttachReq &InRequest)
	RPC call to Server's Attach. More...

virtual void	SpawnEntitySrv (UROS2GenericSrv *InService)
	Callback function of SpawnEntity ROS 2 service. More...

virtual void	SpawnEntitiesSrv (UROS2GenericSrv *InService)
	Callback function of SpawnEntities ROS 2 service. More...

void	ServerSpawnEntity (const FROSSpawnEntityReq &InRequest)
	RPC call to Server's SpawnEntity. More...

void	DeleteEntitySrv (UROS2GenericSrv *InService)
	Callback function of DeleteEntity ROS 2 service. More...

void	ServerDeleteEntity (const FROSDeleteEntityReq &InRequest)
	RPC call to Server's DeleteEntity. More...

void	ServerAddEntity (AActor *InEntity)
	RPC call to Server's AddEntity. More...

void	SetNetworkPlayerId (const int32 InNetworkPlayerId)
	Set Player Id. More...

int32	GetNetworkPlayerId () const
	Get Player Id. More...

Public Attributes
UROS2NodeComponent *	ROS2Node = nullptr
	ROS 2 node of each client's own in the network. More...

ASimulationState *	ServerSimState = nullptr
	Handle to server's main sim state which has ROS 2 interface implementation. More...

Protected Member Functions
virtual void	OnComponentCreated () override

template<typename T >
bool	CheckEntity (TMap< FString, T > &InEntities, const FString &InEntityName, const bool bAllowEmpty=false)

bool	CheckEntity (const FString &InEntityName, const bool bAllowEmpty=false)

bool	CheckSpawnableEntity (const FString &InEntityName, const bool bAllowEmpty=false)

virtual FROSSpawnEntityRes	SpawnEntityImpl (FROSSpawnEntityReq &InRequest)

Protected Attributes
int32	NetworkPlayerId
	NetworkPlayerId which is used to differenciate client in server. More...

Detailed Description

Provide ROS 2 interfaces to interact with UE4. This provide only ROS 2 interfaces and implementation is in ASimulationState.

Supported interactions: GetEntityState, SetEntityState, Attach, SpawnEntity, DeleteEntity

UCLASS()

Member Function Documentation

◆ AttachSrv()

void URRROS2SimulationStateClient::AttachSrv ( UROS2GenericSrv * InService )

Callback function of Attach ROS 2 service.

Attach actors if those are not attached and detach actors if those are attached.

Parameters

Service

See also: ue_mgs/Attach.srv

UFUNCTION(BlueprintCallable)

◆ CheckEntity() [1/2]

bool URRROS2SimulationStateClient::CheckEntity	(	const FString &	InEntityName,
		const bool	bAllowEmpty = `false`
	)

protected

◆ CheckEntity() [2/2]

template<typename T >

bool URRROS2SimulationStateClient::CheckEntity	(	TMap< FString, T > &	InEntities,
		const FString &	InEntityName,
		const bool	bAllowEmpty = `false`
	)

protected

◆ CheckSpawnableEntity()

bool URRROS2SimulationStateClient::CheckSpawnableEntity	(	const FString &	InEntityName,
		const bool	bAllowEmpty = `false`
	)

protected

◆ DeleteEntitySrv()

void URRROS2SimulationStateClient::DeleteEntitySrv ( UROS2GenericSrv * InService )

Callback function of DeleteEntity ROS 2 service.

Parameters

Service

See also: ue_mgs/DeleteEntity.srv

UFUNCTION(BlueprintCallable)

◆ GetEntityStateSrv()

void URRROS2SimulationStateClient::GetEntityStateSrv ( UROS2GenericSrv * InService )

Callback function of GetEntityState ROS 2 service.

Return the pose from reference frame.

Parameters

Service

See also: ue_mgs/GetEntityState.srv

Todo:: Twist is zero. Should return proper value for physics actors.

UFUNCTION(BlueprintCallable)

◆ GetLifetimeReplicatedProps()

virtual void URRROS2SimulationStateClient::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

◆ GetNetworkPlayerId()

int32 URRROS2SimulationStateClient::GetNetworkPlayerId ( ) const

inline

Get Player Id.

Parameters

InEntity

UFUNCTION(BlueprintCallable)

◆ Init()

virtual void URRROS2SimulationStateClient::Init ( UROS2NodeComponent * InROS2Node )

virtual

Start ROSservices.

Parameters

InROS2Node

See also: ROS2Node

UFUNCTION(BlueprintCallable)

◆ IsSupportedForNetworking()

virtual bool URRROS2SimulationStateClient::IsSupportedForNetworking ( ) const

inlineoverridevirtual

◆ OnComponentCreated()

virtual void URRROS2SimulationStateClient::OnComponentCreated ( )

overrideprotectedvirtual

◆ ServerAddEntity()

void URRROS2SimulationStateClient::ServerAddEntity ( AActor * InEntity )

RPC call to Server's AddEntity.

Parameters

InEntity

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerAttach()

void URRROS2SimulationStateClient::ServerAttach ( const FROSAttachReq & InRequest )

RPC call to Server's Attach.

Parameters

InRequest

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerDeleteEntity()

void URRROS2SimulationStateClient::ServerDeleteEntity ( const FROSDeleteEntityReq & InRequest )

RPC call to Server's DeleteEntity.

Parameters

InRequest

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerSetEntityState()

void URRROS2SimulationStateClient::ServerSetEntityState ( const FROSSetEntityStateReq & InRequest )

RPC call to Server's SetEntityState.

Parameters

InRequest

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerSpawnEntity()

void URRROS2SimulationStateClient::ServerSpawnEntity ( const FROSSpawnEntityReq & InRequest )

RPC call to Server's SpawnEntity.

Parameters

InRequest

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ SetEntityStateSrv()

void URRROS2SimulationStateClient::SetEntityStateSrv ( UROS2GenericSrv * InService )

Callback function of SetEntityState ROS 2 service.

Parameters

Service

See also: ue_mgs/SetEntityState.srv

Todo:: Twist is zero. Should able to set value for physics actors.

UFUNCTION(BlueprintCallable)

◆ SetNetworkPlayerId()

void URRROS2SimulationStateClient::SetNetworkPlayerId ( const int32 InNetworkPlayerId )

inline

Set Player Id.

Parameters

InNetworkPlayerId

UFUNCTION(BlueprintCallable)

◆ SpawnEntitiesSrv()

virtual void URRROS2SimulationStateClient::SpawnEntitiesSrv ( UROS2GenericSrv * InService )

virtual

Callback function of SpawnEntities ROS 2 service.

Parameters

Service

See also: ue_mgs/SpawnEntities.srv

UFUNCTION(BlueprintCallable)

◆ SpawnEntityImpl()

virtual FROSSpawnEntityRes URRROS2SimulationStateClient::SpawnEntityImpl ( FROSSpawnEntityReq & InRequest )

protectedvirtual

◆ SpawnEntitySrv()

virtual void URRROS2SimulationStateClient::SpawnEntitySrv ( UROS2GenericSrv * InService )

virtual

Callback function of SpawnEntity ROS 2 service.

Parameters

Service

See also: ue_mgs/SpawnEntity.srv

UFUNCTION(BlueprintCallable)

Member Data Documentation

◆ NetworkPlayerId

int32 URRROS2SimulationStateClient::NetworkPlayerId

protected

NetworkPlayerId which is used to differenciate client in server.

UPROPERTY(BlueprintReadOnly, Replicated)

◆ ROS2Node

UROS2NodeComponent* URRROS2SimulationStateClient::ROS2Node = nullptr

ROS 2 node of each client's own in the network.

UPROPERTY(BlueprintReadOnly, Replicated)

◆ ServerSimState

ASimulationState* URRROS2SimulationStateClient::ServerSimState = nullptr

Handle to server's main sim state which has ROS 2 interface implementation.

UPROPERTY(EditAnywhere, BlueprintReadWrite, meta = (ExposeOnSpawn = "true"), 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/Tools/RRROS2SimulationStateClient.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ AttachSrv()

◆ CheckEntity() [1/2]

◆ CheckEntity() [2/2]

◆ CheckSpawnableEntity()

◆ DeleteEntitySrv()

◆ GetEntityStateSrv()

◆ GetLifetimeReplicatedProps()

◆ GetNetworkPlayerId()

◆ Init()

◆ IsSupportedForNetworking()

◆ OnComponentCreated()

◆ ServerAddEntity()

◆ ServerAttach()

◆ ServerDeleteEntity()

◆ ServerSetEntityState()

◆ ServerSpawnEntity()

◆ SetEntityStateSrv()

◆ SetNetworkPlayerId()

◆ SpawnEntitiesSrv()

◆ SpawnEntityImpl()

◆ SpawnEntitySrv()

Member Data Documentation

◆ NetworkPlayerId

◆ ROS2Node

◆ ServerSimState