ROS 2 GameMode which have Clock publisher and ROS 2 services to interact with ROS 2. More...

#include <RRROS2GameMode.h>

Inheritance diagram for ARRROS2GameMode:

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Collaboration diagram for ARRROS2GameMode:

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Public Member Functions
	ARRROS2GameMode ()

virtual void	SetFixedTimeStep (const float InStepSize)
	Set timestep by FApp::SetFixedDeltaTime. More...

virtual float	GetFixedTimeStep () const
	Get timestep. More...

virtual void	SetTargetRTF (const float InTargetRTF)
	Set the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep. More...

virtual float	GetTargetRTF () const
	Get the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep. More...

virtual void	PrintSimConfig () const
	Print GameMode's user configs in INI. More...

FString	GetSpawnableNativeEntityClassPath (const FString &InEntityModelName) const
	Get corresponding class path of a native entity model from NativeSpawnableClassPaths. More...

Public Attributes
UROS2NodeComponent *	MainROS2Node = nullptr
	Sim's Main ROS 2 node. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead. More...

FString	MainROS2NodeName = TEXT("UEROS2Node")
	Sim's Main ROS 2 node name. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead. More...

URRROS2ClockPublisher *	ClockPublisher = nullptr
	Publish /clock. This is not used by client-server without editor and ARRNetworkPlayerController has ClockPublisher instead. More...

ASimulationState *	MainSimState = nullptr
	Provide ROS 2 implementation of sim-wide operations like get/set actor state, spawn/delete actor, attach/detach actor. More...

URRROS2SimulationStateClient *	MainROS2SimStateClient = nullptr
	Provide ROS 2 interface of sim-wide operations implemented by MainSimState. More...

TSubclassOf< URRROS2SimulationStateClient >	ROS2SimStateClientClass = URRROS2SimulationStateClient::StaticClass()
	Custom type to instantiate MainROS2SimStateClient, configurable in child classes. More...

FRROnROS2Initialized	OnROS2Initialized
	Delegate signalling ROS 2 having been initialized with MainROS2Node, MainROS2SimStateClient, ClockPublisher ready. More...

Protected Member Functions
virtual void	InitGame (const FString &InMapName, const FString &InOptions, FString &OutErrorMessage) override
	Initialize Game. More...

virtual void	InitSim ()
	Create MainSimState and call InitROS2. More...

virtual void	StartPlay () override
	Set timestep with startplay and call InitSim. More...

Protected Attributes
TArray< FString >	BPSpawnableClassNames
	Blueprint class names (also used as their entity model names) to be registered as spawnable entity types. More...

TMap< FString, FString >	NativeSpawnableClassPaths
	Asset paths of classes to be registered as spawnable entity types. More...

Private Member Functions
void	InitROS2 ()
	Create and initialize MainROS2Node, ClockPublisher and MainSimState. More...

Detailed Description

ROS 2 GameMode which have Clock publisher and ROS 2 services to interact with ROS 2.

See also: AGameMode; GameMode and GameState

UCLASS(Config = RapyutaSimSettings)

Constructor & Destructor Documentation

◆ ARRROS2GameMode()

ARRROS2GameMode::ARRROS2GameMode ( )

Member Function Documentation

◆ GetFixedTimeStep()

virtual float ARRROS2GameMode::GetFixedTimeStep ( ) const

virtual

Get timestep.

Returns: fixed timestep.

UFUNCTION(BlueprintCallable)

◆ GetSpawnableNativeEntityClassPath()

FString ARRROS2GameMode::GetSpawnableNativeEntityClassPath ( const FString & InEntityModelName ) const

inline

Get corresponding class path of a native entity model from NativeSpawnableClassPaths.

◆ GetTargetRTF()

virtual float ARRROS2GameMode::GetTargetRTF ( ) const

virtual

Get the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep.

Returns: float

UFUNCTION(BlueprintCallable)

◆ InitGame()

virtual void ARRROS2GameMode::InitGame	(	const FString &	InMapName,
		const FString &	InOptions,
		FString &	OutErrorMessage
	)

overrideprotectedvirtual

Initialize Game.

Parameters

InMapName
InOptions
OutErrorMessage

See also: InitGame

◆ InitROS2()

void ARRROS2GameMode::InitROS2 ( )

private

Create and initialize MainROS2Node, ClockPublisher and MainSimState.

◆ InitSim()

virtual void ARRROS2GameMode::InitSim ( )

protectedvirtual

Create MainSimState and call InitROS2.

◆ PrintSimConfig()

virtual void ARRROS2GameMode::PrintSimConfig ( ) const

virtual

Print GameMode's user configs in INI.

Reimplemented in ARRGameMode.

◆ SetFixedTimeStep()

virtual void ARRROS2GameMode::SetFixedTimeStep ( const float InStepSize )

virtual

Set timestep by FApp::SetFixedDeltaTime.

Parameters

InFrequency game time update frequency, timestep become 1/frequency.

Attention: FApp::SetFixedDeltaTime take arg as double but InFreqency is float to be able to access from BP.

UFUNCTION(BlueprintCallable)

◆ SetTargetRTF()

virtual void ARRROS2GameMode::SetTargetRTF ( const float InTargetRTF )

virtual

Set the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep.

Parameters

InTargetRTF

UFUNCTION(BlueprintCallable)

◆ StartPlay()

virtual void ARRROS2GameMode::StartPlay ( )

overrideprotectedvirtual

Set timestep with startplay and call InitSim.

Reimplemented in ARRGameMode.

Member Data Documentation

◆ BPSpawnableClassNames

TArray<FString> ARRROS2GameMode::BPSpawnableClassNames

protected

Blueprint class names (also used as their entity model names) to be registered as spawnable entity types.

Eg: {"BP_TurtlebotBurger", "BP_TurtlebotBurgerVehicle"}

UPROPERTY(config)

◆ ClockPublisher

URRROS2ClockPublisher* ARRROS2GameMode::ClockPublisher = nullptr

Publish /clock. This is not used by client-server without editor and ARRNetworkPlayerController has ClockPublisher instead.

UPROPERTY(BlueprintReadOnly)

◆ MainROS2Node

UROS2NodeComponent* ARRROS2GameMode::MainROS2Node = nullptr

Sim's Main ROS 2 node. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead.

UPROPERTY(BlueprintReadOnly)

◆ MainROS2NodeName

FString ARRROS2GameMode::MainROS2NodeName = TEXT("UEROS2Node")

Sim's Main ROS 2 node name. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead.

UPROPERTY(BlueprintReadWrite)

◆ MainROS2SimStateClient

URRROS2SimulationStateClient* ARRROS2GameMode::MainROS2SimStateClient = nullptr

Provide ROS 2 interface of sim-wide operations implemented by MainSimState.

Note: ASimulationState and URRROS2SimulationStateClient are separated to be used in client-server.

UPROPERTY(BlueprintReadOnly)

◆ MainSimState

ASimulationState* ARRROS2GameMode::MainSimState = nullptr

Provide ROS 2 implementation of sim-wide operations like get/set actor state, spawn/delete actor, attach/detach actor.

UPROPERTY(BlueprintReadOnly)

◆ NativeSpawnableClassPaths

TMap<FString , FString > ARRROS2GameMode::NativeSpawnableClassPaths

protected

Asset paths of classes to be registered as spawnable entity types.

Eg: {{"TurtlebotBurger", "/Script/RapyutaSimulationPlugins.TurtlebotBurger"]}

UPROPERTY(config)

◆ OnROS2Initialized

FRROnROS2Initialized ARRROS2GameMode::OnROS2Initialized

Delegate signalling ROS 2 having been initialized with MainROS2Node, MainROS2SimStateClient, ClockPublisher ready.

◆ ROS2SimStateClientClass

TSubclassOf<URRROS2SimulationStateClient> ARRROS2GameMode::ROS2SimStateClientClass = URRROS2SimulationStateClient::StaticClass()

Custom type to instantiate MainROS2SimStateClient, configurable in child classes.

UPROPERTY(BlueprintReadOnly)

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Core/RRROS2GameMode.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ARRROS2GameMode()

Member Function Documentation

◆ GetFixedTimeStep()

◆ GetSpawnableNativeEntityClassPath()

◆ GetTargetRTF()

◆ InitGame()

◆ InitROS2()

◆ InitSim()

◆ PrintSimConfig()

◆ SetFixedTimeStep()

◆ SetTargetRTF()

◆ StartPlay()

Member Data Documentation

◆ BPSpawnableClassNames

◆ ClockPublisher

◆ MainROS2Node

◆ MainROS2NodeName

◆ MainROS2SimStateClient

◆ MainSimState

◆ NativeSpawnableClassPaths

◆ OnROS2Initialized

◆ ROS2SimStateClientClass