Robot pose sensor manager which has two URRROS2EntityStateSensorComponent which publishes. More...

#include <RRPoseSensorManager.h>

Inheritance diagram for URRPoseSensorManager:

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Collaboration diagram for URRPoseSensorManager:

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Public Member Functions
	URRPoseSensorManager ()
	Construct a new URRPoseSensorManager object, configuring sensor default property values. More...

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

virtual void	SensorUpdate () override
	Calculate relative pose with URRGeneralUtils and update Data. More...

virtual void	UpdateReferenceActorWithTag ()
	Update reference actor to the nearest one along Z axis with tag. More...

Public Member Functions inherited from URRROS2EntityStateSensorComponent
	URRROS2EntityStateSensorComponent ()
	Construct a new URRROS2EntityStateSensorComponent object. More...

void	BeginPlay () override

virtual void	SetReferenceActorByName (const FString &InName)

virtual void	SetRootOffset (const FTransform &InRootOffset)

virtual void	SetReferenceActorByActor (AActor *InActor)

virtual FROSEntityState	GetROS2Data ()
	return Data More...

virtual void	SetROS2Msg (UROS2GenericMsg *InMessage) override
	Set result of GetROS2Data to InMessage. More...

Public Member Functions inherited from URRROS2BaseSensorComponent
	URRROS2BaseSensorComponent ()
	Construct a new URRROS2BaseSensorComponent object. 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...

Public Attributes
ASimulationState *	ServerSimState = nullptr
	Handle to server's main sim state. More...

FString	ReferenceTag = URRActorCommon::MAP_ORIGIN_TAG
	Reference actor's tag. More...

ERRRefActorSelectMode	RefActorSelectMode = ERRRefActorSelectMode::AUTO
	Reference actor's selection mode. More...

FString	MapFrameId = URRActorCommon::MAP_ROS_FRAME_ID
	Map frame id. More...

URRROS2EntityStateSensorComponent *	MapOriginPoseSensor = nullptr
	Map origin's pose sensor. More...

Public Attributes inherited from URRROS2EntityStateSensorComponent
FString	ReferenceActorName = TEXT("")
	NOTE: Only URRPoseSensorManager uses ReferenceActor. More...

AActor *	ReferenceActor = nullptr

FTransform	OffsetTransform = FTransform::Identity

FOnNewReferenceActorDetected	OnNewReferenceActorDetected

FROSEntityState	Data

Public Attributes inherited from URRROS2BaseSensorComponent
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 Member Functions
virtual void	OnComponentCreated () override
	Callback on component creation to setup SetIsReplicated() More...

Additional Inherited Members
Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

Robot pose sensor manager which has two URRROS2EntityStateSensorComponent which publishes.

Reference Actor pose from world origin
Pose from reference actor.

Typical usecase is to set map origin as reference actor and publish robot pose from map_origin.

This is useful to navigate robot in the large area such as multiple floor building which has multiple map origins.

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

Constructor & Destructor Documentation

◆ URRPoseSensorManager()

URRPoseSensorManager::URRPoseSensorManager ( )

Construct a new URRPoseSensorManager object, configuring sensor default property values.

Member Function Documentation

◆ GetLifetimeReplicatedProps()

virtual void URRPoseSensorManager::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

◆ InitalizeWithROS2()

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

overridevirtual

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

Reimplemented from URRROS2BaseSensorComponent.

◆ OnComponentCreated()

virtual void URRPoseSensorManager::OnComponentCreated ( )

overrideprotectedvirtual

Callback on component creation to setup SetIsReplicated()

◆ SensorUpdate()

virtual void URRPoseSensorManager::SensorUpdate ( )

overridevirtual

Calculate relative pose with URRGeneralUtils and update Data.

Todo:: Currently twist = ZeroVectors. Should be filled for physics actors.

Reimplemented from URRROS2EntityStateSensorComponent.

◆ UpdateReferenceActorWithTag()

virtual void URRPoseSensorManager::UpdateReferenceActorWithTag ( )

virtual

Update reference actor to the nearest one along Z axis with tag.

UFUNCTION(BlueprintCallable)

Member Data Documentation

◆ MapFrameId

FString URRPoseSensorManager::MapFrameId = URRActorCommon::MAP_ROS_FRAME_ID

Map frame id.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ MapOriginPoseSensor

URRROS2EntityStateSensorComponent* URRPoseSensorManager::MapOriginPoseSensor = nullptr

Map origin's pose sensor.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ RefActorSelectMode

ERRRefActorSelectMode URRPoseSensorManager::RefActorSelectMode = ERRRefActorSelectMode::AUTO

Reference actor's selection mode.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ ReferenceTag

FString URRPoseSensorManager::ReferenceTag = URRActorCommon::MAP_ORIGIN_TAG

Reference actor's tag.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ ServerSimState

ASimulationState* URRPoseSensorManager::ServerSimState = nullptr

Handle to server's main sim state.

UPROPERTY(VisibleAnywhere, 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/Sensors/RRPoseSensorManager.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ URRPoseSensorManager()

Member Function Documentation

◆ GetLifetimeReplicatedProps()

◆ InitalizeWithROS2()

◆ OnComponentCreated()

◆ SensorUpdate()

◆ UpdateReferenceActorWithTag()

Member Data Documentation

◆ MapFrameId

◆ MapOriginPoseSensor

◆ RefActorSelectMode

◆ ReferenceTag

◆ ServerSimState