URRROS2StatePublisher Class Reference

This class should be attached to a robot and publish its states. More...

#include <RRROS2StatePublisher.h>

Inheritance diagram for URRROS2StatePublisher:

Collaboration diagram for URRROS2StatePublisher:

Public Member Functions
	URRROS2StatePublisher ()
void	UpdateMessage (UROS2GenericMsg *InMessage) override
void	AddEntityToPublish (const FString &InName, const FVector &InPosition, const FRotator &InOrientation, const FString &InRefFrame)
virtual void	SetTargetRobot (ARobotVehicle *InRobot)

Public Attributes
TArray< FROSEntityState >	StatesToPublish
	it's responsibility of the owner to update this More...
int32	Idx = 0
TWeakObjectPtr< ARobotVehicle >	Robot = nullptr
FString	FrameId
FString	ReferenceFrameId

Detailed Description

This class should be attached to a robot and publish its states.

It is responsibility of the owning robot to update the structs, this way the class can be kept more flexible and work with robots

defined by multiple actors as well as robots defined by a skeletal mesh. This could use a refactor once the robots are more well

defined and could require a refactor of the main publisher class as well, to avoid the iterator Idx as it is used now Ideally, it

should be this class that fetches all the necessary data to be published.

Todo:

Implementation should follow the other publisher classes.

See also

UROS2Publisher

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

Constructor & Destructor Documentation

URRROS2StatePublisher()

URRROS2StatePublisher::URRROS2StatePublisher

(

)

Member Function Documentation

AddEntityToPublish()

void URRROS2StatePublisher::AddEntityToPublish	(	const FString &	InName,
		const FVector &	InPosition,
		const FRotator &	InOrientation,
		const FString &	InRefFrame
	)

UFUNCTION(BlueprintCallable)

SetTargetRobot()

virtual void URRROS2StatePublisher::SetTargetRobot ( ARobotVehicle *  InRobot )

virtual

Reimplemented in URRROS2SkeletalMeshStatePublisher.

UpdateMessage()

void URRROS2StatePublisher::UpdateMessage ( UROS2GenericMsg *  InMessage )

override

Member Data Documentation

FrameId

FString URRROS2StatePublisher::FrameId

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Idx

int32 URRROS2StatePublisher::Idx = 0

UPROPERTY()

ReferenceFrameId

FString URRROS2StatePublisher::ReferenceFrameId

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Robot

TWeakObjectPtr<ARobotVehicle> URRROS2StatePublisher::Robot = nullptr

UPROPERTY()

StatesToPublish

TArray<FROSEntityState> URRROS2StatePublisher::StatesToPublish

it's responsibility of the owner to update this

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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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/RRROS2StatePublisher.h