ROS 2 3D lidar components. More...

#include <RR3DLidarComponent.h>

Inheritance diagram for URR3DLidarComponent:

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Collaboration diagram for URR3DLidarComponent:

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Public Member Functions
	URR3DLidarComponent ()
	Construct a new URR3DLidarComponent object. More...

virtual void	TickComponent (float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override
	async: Update RecordedHits from TraceHandles which is update in SensorUpdate. More...

virtual void	Run () override
	sync: Initialize #FHitResult More...

virtual void	SensorUpdate () override
	Get Lidar data, add noise, draw lidar rays. More...

virtual bool	Visible (AActor *TargetActor) override
	Return true if laser hits the target actor. More...

virtual FROSPointCloud2	GetROS2Data ()
	Create ROS 2 Msg structure from RecordedHits. More...

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

virtual uint64	GetTotalScan () const
	Get the Total Scan object. More...

Public Member Functions inherited from URRBaseLidarComponent
	URRBaseLidarComponent ()

void	GetData (TArray< FHitResult > &OutHits, float &OutTime) const
	Get RecordedHits and TimeOfLastScan. More...

FLinearColor	InterpColorFromIntensity (const float InIntensity)

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

virtual void	DestroyComponent (bool bPromoteChildren=false) override
	Destroy after stop timers and destroy publisher. More...

virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName, const FString &InTopicName, const UROS2QoS InQoS)
	Create and initialize publisher and start sensor update by calling. More...

virtual void	InitalizeWithROS2 (UROS2NodeComponent *InROS2Node, const FString &InPublisherName=TEXT(""), const FString &InTopicName=TEXT(""))
	Create and initialize publisher and start sensor update by calling. 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	Stop ()
	Stop timer to update and publish sensor data by using ClearTimer. More...

Public Attributes
int32	NChannelsPerScan = 32

float	StartVerticalAngle = -45.f
	[degrees] More...

float	FOVVertical = 90.f
	[degrees] More...

bool	bOrganizedCloud = false
	Data is organized or not. More...

float	DVAngle = 0.f
	[degrees] More...

Public Attributes inherited from URRBaseLidarComponent
int32	NSamplesPerScan = 360

float	StartAngle = 0.f
	[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More...

float	FOVHorizontal = 360.f
	[degrees] scan goes from StartAngle to StartAngle+FOVHorizontal More...

float	MinRange = 12.f
	[m] More...

float	MaxRange = 350.f
	[m] More...

TEnumAsByte< ECollisionChannel >	TraceCollisionChannel = ECC_Visibility

bool	bIgnoreSelf = false

FLinearColor	ColorMiss = FColor(255, 127, 0, 255)

FLinearColor	ColorMin = FColor(255, 0, 0, 255)

FLinearColor	ColorMid = FColor(255, 0, 0, 255)

FColor	ColorMax = FColor(255, 255, 255, 255)

float	TimeOfLastScan = 0.f

float	DHAngle = 0.f

TObjectPtr< URRGaussianNoise >	PositionNoise

TObjectPtr< URRGaussianNoise >	IntensityNoise

float	PositionalNoiseMean = 0.f

float	PositionalNoiseVariance = 1.f

float	IntensityNoiseMean = 0.f

float	IntensityNoiseVariance = .01f

uint8	BWithNoise: 1

TArray< FHitResult >	RecordedHits

TArray< FTraceHandle >	TraceHandles

bool	bShowLidarRays = true

bool	ShowLidarRayMisses = false

uint8	DrawPointDepthIntensity = 0
	DepthIntesity of DrawPoint. More...

float	IntensityNonReflective = 1000.f

float	IntensityReflective = 6000.f

float	IntensityMin = 0.f

float	IntensityMax = 10000.f

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

UROS2QoS	QoS = UROS2QoS::SensorData

bool	bAppendNodeNamespace = true
	Append namespace to FrameId or not. More...

bool	bIsValid = true

Additional Inherited Members
Protected Member Functions inherited from URRBaseLidarComponent
virtual void	BeginPlay () override

FLinearColor	InterpolateColor (float InX)

Static Protected Member Functions inherited from URRBaseLidarComponent
static float	GetIntensityFromDist (float InBaseIntensity, float InDistance)

Protected Attributes inherited from URRBaseLidarComponent
float	Dt = 0.f

Protected Attributes inherited from URRROS2BaseSensorComponent
FTimerHandle	TimerHandle

Detailed Description

ROS 2 3D lidar components.

This class has 2 types of implementation, async and sync which can be switched by define TRACE_ASYNC.

sync uses LineTraceSingleByChannel and async uses AsyncLineTraceByChannel.

See also: LineTraceSingleByChannel; AsyncLineTraceByChannel

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

Constructor & Destructor Documentation

◆ URR3DLidarComponent()

URR3DLidarComponent::URR3DLidarComponent ( )

Construct a new URR3DLidarComponent object.

Member Function Documentation

◆ GetROS2Data()

virtual FROSPointCloud2 URR3DLidarComponent::GetROS2Data ( )

virtual

Create ROS 2 Msg structure from RecordedHits.

This should probably be removed so that the sensor can be decoupled from the message types

Returns: FROSPointCloud2

UFUNCTION(BlueprintCallable)

◆ GetTotalScan()

virtual uint64 URR3DLidarComponent::GetTotalScan ( ) const

inlinevirtual

Get the Total Scan object.

Returns: uint64 NSamplesPerScan * NChannelsPerScan

◆ Run()

virtual void URR3DLidarComponent::Run ( )

overridevirtual

sync: Initialize #FHitResult

async: Initialize #FTraceHandle

Reimplemented from URRROS2BaseSensorComponent.

◆ SensorUpdate()

virtual void URR3DLidarComponent::SensorUpdate ( )

overridevirtual

Get Lidar data, add noise, draw lidar rays.

sync : Uses LineTraceSingleByChannel to get lidar data.

async : Uses AsyncLineTraceByChannel to get lidar data.

See also: LineTraceSingleByChannel; AsyncLineTraceByChannel

Reimplemented from URRROS2BaseSensorComponent.

◆ SetROS2Msg()

virtual void URR3DLidarComponent::SetROS2Msg ( UROS2GenericMsg * InMessage )

overridevirtual

Set result of GetROS2Data to InMessage.

Parameters

InMessage

Reimplemented from URRROS2BaseSensorComponent.

◆ TickComponent()

virtual void URR3DLidarComponent::TickComponent	(	float	DeltaTime,
		enum ELevelTick	TickType,
		FActorComponentTickFunction *	ThisTickFunction
	)

overridevirtual

async: Update RecordedHits from TraceHandles which is update in SensorUpdate.

Parameters

DeltaTime
TickType
ThisTickFunction

◆ Visible()

virtual bool URR3DLidarComponent::Visible ( AActor * TargetActor )

overridevirtual

Return true if laser hits the target actor.

Parameters

TargetActor

Returns: true; false

Reimplemented from URRBaseLidarComponent.

Member Data Documentation

◆ bOrganizedCloud

bool URR3DLidarComponent::bOrganizedCloud = false

Data is organized or not.

false: height=1, width=data size true: height=NChannelsPerScan, width=NSamplesPerScan

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ DVAngle

float URR3DLidarComponent::DVAngle = 0.f

[degrees]

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ FOVVertical

float URR3DLidarComponent::FOVVertical = 90.f

[degrees]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ NChannelsPerScan

int32 URR3DLidarComponent::NChannelsPerScan = 32

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ StartVerticalAngle

float URR3DLidarComponent::StartVerticalAngle = -45.f

[degrees]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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/RR3DLidarComponent.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ URR3DLidarComponent()

Member Function Documentation

◆ GetROS2Data()

◆ GetTotalScan()

◆ Run()

◆ SensorUpdate()

◆ SetROS2Msg()

◆ TickComponent()

◆ Visible()

Member Data Documentation

◆ bOrganizedCloud

◆ DVAngle

◆ FOVVertical

◆ NChannelsPerScan

◆ StartVerticalAngle