RRROS2BaseSensorComponent.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "GenericPlatform/GenericPlatformMath.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
#include "ROS2Publisher.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRGeneralUtils.h"
 
#include "Tools/RRROS2BaseSensorPublisher.h"
 
 
 
#include "RRROS2BaseSensorComponent.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogROS2Sensor, Log, All);
 
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRGaussianNoise : public UObject
 
{
 
 
 
public:
 
    URRGaussianNoise()
 
    {
 
        Init();
 
    }
 
 
 
    URRGaussianNoise(const float InMean, const float InCov)
 
    {
 
        Init(InMean, InCov);
 
    }
 
 
 
 
    virtual void Init()
 
    {
 
        GaussianRNG = std::normal_distribution<>(Mean, std::sqrt(Cov));
 
    }
 
 
 
    virtual void Init(const float InMean, const float InCov)
 
    {
 
        Mean = InMean;
 
        Cov = InCov;
 
        Init();
 
    }
 
 
 
 
    virtual float Get()
 
    {
 
        return GaussianRNG(Gen);
 
    }
 
 
 
 
    float Mean = 0.f;
 
 
 
 
    float Cov = 0.01f;
 
 
 
protected:
 
    std::random_device Rng;
 
 
 
    std::mt19937 Gen = std::mt19937(Rng());
 
 
 
    std::normal_distribution<> GaussianRNG;
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2BaseSensorComponent : public USceneComponent
 
{
 
 
 
public:
 
    URRROS2BaseSensorComponent();
 
 
 
    virtual void InitalizeWithROS2(UROS2NodeComponent* InROS2Node,
 
                                   const FString& InPublisherName = TEXT(""),
 
                                   const FString& InTopicName = TEXT(""),
 
                                   const UROS2QoS InQoS = UROS2QoS::SensorData);
 
 
 
    virtual void CreatePublisher(const FString& InPublisherName = TEXT(""));
 
 
 
    virtual void PreInitializePublisher(UROS2NodeComponent* InROS2Node, const FString& InTopicName = TEXT(""));
 
 
 
    virtual void InitializePublisher(UROS2NodeComponent* InROS2Node, const UROS2QoS InQoS = UROS2QoS::SensorData);
 
 
 
    virtual void Run();
 
 
 
    virtual void Stop();
 
 
 
    virtual void SensorUpdate()
 
    {
 
    }
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage)
 
    {
 
    }
 
 
 
 
    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;
 
 
 
 
    bool bIsValid = true;
 
 
 
protected:
 
 
    FTimerHandle TimerHandle;
 
};