Base Robot class. Other robot class should inherit from this class. More...

#include <RRBaseRobot.h>

Inheritance diagram for ARRBaseRobot:

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Collaboration diagram for ARRBaseRobot:

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

	ARRBaseRobot (const FObjectInitializer &ObjectInitializer)
	Construct a new ARRBaseRobot object. More...

virtual void	BeginPlay () override
	BeginPlay. More...

virtual void	Tick (float DeltaSeconds) override
	Wake rigid body in addition to Super::Tick() More...

void	SetupDefault ()
	Initialize default components being configurable in child BP classes. More...

virtual void	SetRootOffset (const FTransform &InRootOffset)
	Set the root offset for RobotVehicleMoveComponent. More...

FORCEINLINE bool	IsDynamicRuntimeRobot () const
	DynamicRuntime robot: Implemented purely in cpp, built & loaded up at runtime from raw CAD + metadata (URDF/SDF) More...

FORCEINLINE bool	IsStaticBPRobot () const
	Static BP robot: implemented in BP, possibly inheriting from #ARBaseRobot or its children classes,. More...

FString	GetDynamicResourceName (const ERRResourceDataType InDataType) const
	Get name of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.) More...

FString	GetDynamicResourceAssetPath (const ERRResourceDataType InDataType) const
	Get UE asset path of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.) More...

virtual void	OnRep_ROS2Interface ()
	Function called with ROS2Interface replication. Start ROS2Interface if bStartStopROS2Interface=true. More...

virtual void	OnRep_bStartStopROS2Interface ()
	Function called with bStartStopROS2Interface replication. Start/stop ROS2Interface if it is ready. More...

bool	IsAuthorizedInThisClient ()
	Check necessary variables has initialized and PlayerId which spawned robot is match to this client PlayerId. More...

void	CreateROS2Interface ()
	Instantiate ROS 2 Interface without initializing yet. More...

void	InitROS2Interface ()
	Initialize ROS 2 Interface. Directly call URRRobotROS2Interface::Initialize or execute in client via OnRep_bStartStopROS2Interface. More...

bool	InitROS2InterfaceImpl ()

void	DeInitROS2Interface ()
	Stop ROS 2 Interface. Directly call URRRobotROS2Interface::DeInitialize or execute in client via OnRep_bStartStopROS2Interface. More...

void	SetRobotName (const FString &InRobotName)
	Set robot unique name. More...

virtual void	SetRobotModelName (const FString InName)

virtual FString	GetRobotModelName ()

FORCEINLINE bool	IsBuiltInRobotModel () const
	Is static built robot model by the Editor. More...

uint64	GetRobotID () const
	Get robot ID. More...

void	SetRobotID (uint64 InRobotID)
	Set robot ID. More...

virtual bool	AddLink (const FString &InLinkName, UStaticMeshComponent *InMesh)
	Add UStaticMeshComponent to Links. More...

void	SetBaseMeshComp (UMeshComponent *InBaseMeshComp, bool bInMakeAsRoot=true, bool bInDestroyDefaultRoot=true)
	Set BaseMeshComp, optionally making it the new Root, replacing DefaultRoot. More...

virtual bool	AddJoint (const FString &InParentLinkName, const FString &InChildLinkName, const FString &InJointName, URRJointComponent *InJoint)
	Add URRJointComponent to Joints and set Joint's parent and child link from name in Links. More...

virtual void	StartJointsInitialization ()

virtual void	CheckJointsInitialization ()

virtual void	SetChildComponentsCollisionEnabled (const bool IsEnable)
	Set the ChildComponents Collision Enabled. More...

virtual bool	InitSensors (UROS2NodeComponent *InROS2Node)
	Initialize sensors components which are child class of URRROS2BaseSensorComponent. 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 bool	ReplicateSubobjects (UActorChannel Channel, FOutBunch Bunch, FReplicationFlags *RepFlags) override
	Allows a component to replicate other subobject on the actor. More...

virtual void	SetJointState (const TMap< FString, TArray< float >> &InJointState, const ERRJointControlType InJointControlType)
	Set Joints state to Joints. More...

virtual void	StopMovement ()
	Stop robot movement, resetting all vel inputs. More...

virtual void	SetMoveComponent (UMovementComponent *InMoveComponent)

virtual void	SetLinearVel (const FVector &InLinearVel)
	Set velocity to RobotVehicleMoveComponent. More...

virtual void	SetAngularVel (const FVector &InAngularVel)
	Set angular velocity to RobotVehicleMoveComponent. More...

virtual void	SyncServerLinearMovement (float InClientTimeStamp, const FTransform &InClientRobotTransform, const FVector &InLinearVel)
	Set position and linear velocity to the robot in the server. More...

virtual void	SyncServerAngularMovement (float InClientTimeStamp, const FRotator &InClientRobotRotation, const FVector &InAngularVel)
	Set rotation and angular velocity to the robot in the server. More...

virtual void	SetLocalLinearVel (const FVector &InLinearVel)
	Set linear velocity to RobotVehicleMoveComponent in the client. More...

virtual void	SetLocalAngularVel (const FVector &InAngularVel)
	Set angular velocity to RobotVehicleMoveComponent in the client. More...

void	BPConfigureMovementComponent ()
	This method is called inside PostInitializeComponents. More...

bool	CheckUIUserWidget () const
	Check whether #UIUserWidget is valid. More...

virtual bool	InitPropertiesFromJSON ()
	Parse Json parameters in ROSSpawnParameters. More...

void	BPInitPropertiesFromJSON ()
	This method is called inside PreInitializeComponents. More...

virtual void	ConfigureMovementComponent ()
	Calls both InitPropertiesFromJSON and BPInitPropertiesFromJSON. More...

virtual void	InitUIWidget ()
	Create & init UIWidgetComp. More...

virtual bool	InitPropertiesFromJSONAll ()

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

	ARRBaseActor (const FObjectInitializer &ObjectInitializer)
	Construct a new ARRBaseActor object. More...

void	SetupDefaultBase ()
	Initialize default components being configurable in child BP classes. More...

void	SetEntityModelName (const FString &InEntityModelName)

bool	IsDataSynthEntity () const

template<typename TActorSpawnInfo >
bool	InitializeWithSpawnInfo (const TActorSpawnInfo &InActorInfo)
	ACTOR INTIALIZING GENERAL INFO (Unique name, mesh list, material list, etc.) More...

virtual bool	Initialize ()
	Set #GameMode #GameState #GameSingleton #PlayerController. More...

virtual bool	HasInitialized (bool bIsLogged=false) const

virtual void	Reset ()
	Rest. Calls #ActorInfo::ClearMeshInfo. More...

void	SetTickEnabled (bool bInIsTickEnabled)
	Use URRUObjectUtils::SetupActorTick. More...

Public Attributes
TObjectPtr< USceneComponent >	DefaultRoot = nullptr

FOnRobotCreationDone	OnRobotCreationDone
	Robot creation done delegate. More...

TSubclassOf< URRRobotROS2Interface >	ROS2InterfaceClass = nullptr
	Default class to use when ROS 2 Interface is setup for robot. More...

TObjectPtr< URRRobotROS2Interface >	ROS2Interface = nullptr

bool	bStartStopROS2Interface = false
	Flag to start/stop ROS2Interfaces. Since RPC can't be used, use replication to trigger initialization. More...

TObjectPtr< UROS2Spawnable >	ROSSpawnParameters = nullptr
	ROSSpawn parameters which is passed to ROS2Interface. More...

TObjectPtr< ARRBaseRobot >	ServerRobot = nullptr
	Pointer to the robot's server-owned version. More...

FTimerHandle	ROS2InitTimer

FString	RobotUniqueName

FString	RobotModelName
	Robot Model Name (loaded from URDF/SDF) More...

uint64	RobotID = 0
	Robot ID No. More...

TMap< FString, UStaticMeshComponent * >	Links

TObjectPtr< UMeshComponent >	BaseMeshComp = nullptr
	Base mesh comp, normally also as the root comp. More...

TMap< FString, URRJointComponent * >	Joints

bool	bInitializeJoints = true

ERRNetworkAuthorityType	NetworkAuthorityType = ERRNetworkAuthorityType::CLIENT
	Network Authority Type. More...

FVector	TargetLinearVel = FVector::ZeroVector
	[cm/s] Local target linear vel More...

FVector	TargetAngularVel = FVector::ZeroVector
	[deg/s] Local target angular vel [X:Roll - Y:Pitch - Z: Yaw] More...

TObjectPtr< UMovementComponent >	MovementComponent = nullptr
	Main robot movement component (kinematics/diff-drive or wheels-drive comp) More...

TObjectPtr< URobotVehicleMovementComponent >	RobotVehicleMoveComponent
	Movecomponent casted to URobotVehicleMovementComponent for utility. More...

TSubclassOf< UMovementComponent >	VehicleMoveComponentClass
	Class of the main robot movement component, configurable in child class. More...

FTransform	RootOffset = FTransform::Identity
	Offset transform between the Actor root component and the pose that will be published in /odom topic. More...

bool	bInitRobotVehicleMoveComponent = true
	Call ConfigureMovecomponent and RobotVehicleMoveComponent::Initialize() in InitMoveComponent in PostInitializeComponents or not. More...

bool	bMobileRobot = true
	Mobile robot or not. If this is false, movecomponent=nullptr and ROS 2 odom and cmd_vel interface are disabled. More...

bool	bJointControl = true
	Control Joint by ROS2 o rnot. More...

uint8	bUIWidgetEnabled: 1
	Enable widget or not. More...

TObjectPtr< URRUIWidgetComponent >	UIWidgetComp = nullptr
	UI widget component. More...

FTransform	UIWidgetOffset = FTransform(FVector(0.f, 0.f, 100.f))
	Relative pose of the UI widget from the owner robot. More...

TSubclassOf< UUserWidget >	UIUserWidgetClass
	Widget class. More...

bool	bInitializingJoints = false

TMap< UPrimitiveComponent *, FName >	OriginalCollisionProfiles
	Children UPrimitives components orignal collision profiles. More...

Public Attributes inherited from ARRBaseActor
TSharedPtr< FRRActorSpawnInfo >	ActorInfo = nullptr

ARRGameState *	RRGameState = nullptr
	Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More...

URRGameSingleton *	RRGameSingleton = nullptr
	Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More...

ARRGameMode *	RRGameMode = nullptr
	Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More...

ARRPlayerController *	RRPlayerController = nullptr
	Pointer for convinience. Since this pointer can be nullptr, you need null check before using. More...

int8	SceneInstanceId = URRActorCommon::DEFAULT_SCENE_INSTANCE_ID

URRActorCommon *	ActorCommon = nullptr

FString	EntityUniqueName
	Actually Object's Name is also unique as noted by UE, but we just do not want to rely on it. More...

FString	EntityModelName

FTimerHandle	GenericTimerHandle

Protected Member Functions
virtual void	PreInitializeComponents () override
	Instantiate default child components. More...

virtual void	PostInitializeComponents () override
	Post Initialization process of actor. Initialize RobotVehicleMoveComponent by calling InitMoveComponent. More...

virtual bool	InitMoveComponent ()
	Create and Initialize MovementComponent if VehicleMoveComponentClass != nullptr. More...

void	BPPreInitializeComponents ()
	This method is called inside PreInitializeComponents. More...

void	BPPostInitializeComponents ()
	This method is called inside PreInitializeComponents. More...

Protected Member Functions inherited from ARRBaseActor
virtual void	PrintSimConfig () const
	Print class members' values configured in RapyutaSimSettings.ini. More...

virtual void	DoGlobalConfig ()
	Globally config custom setups (eg. Exec() cmds) applied for all instances of this class. More...

Additional Inherited Members
Static Public Attributes inherited from ARRBaseActor
static TMap< UClass *, TUniquePtr< std::once_flag > >	OnceFlagList
	[std::once_flag] also applies even in case of consecutive PIE runs, More...

static std::once_flag	OnceFlag
	Used for class having single-branch child classes (linear inheritance tree) More...

static int8	SSceneInstanceId

Detailed Description

Base Robot class. Other robot class should inherit from this class.

This actor use URRRobotROS2Interface as the main ROS 2 communication tool.

This actor has basic functionality to use with client-server, e.g. replication setting

Moves kinematically with URobotVehicleMovementComponent.
Is possessed by ARRBaseRobotROSController to be control from ROS2.

You can find example at ATurtlebotBurger.

UCLASS()

Constructor & Destructor Documentation

◆ ARRBaseRobot() [1/2]

ARRBaseRobot::ARRBaseRobot ( )

Construct a new ARRBaseRobot object.

◆ ARRBaseRobot() [2/2]

ARRBaseRobot::ARRBaseRobot ( const FObjectInitializer & ObjectInitializer )

Construct a new ARRBaseRobot object.

Parameters

ObjectInitializer

Member Function Documentation

◆ AddJoint()

virtual bool ARRBaseRobot::AddJoint	(	const FString &	InParentLinkName,
		const FString &	InChildLinkName,
		const FString &	InJointName,
		URRJointComponent *	InJoint
	)

virtual

Add URRJointComponent to Joints and set Joint's parent and child link from name in Links.

InParentLinkName and InChildLinkName need to be in Links beforehand.

InJointName is used for joint name of joint_states topic

Parameters

InParentLinkName
InChildLinkName
InJointName
InJoint

Returns: true; false

UFUNCTION(BlueprintCallable)

◆ AddLink()

virtual bool ARRBaseRobot::AddLink	(	const FString &	InLinkName,
		UStaticMeshComponent *	InMesh
	)

virtual

Add UStaticMeshComponent to Links.

InLinkName is used for frame name of tf.

Parameters

InLinkName
InMesh

Returns: true; false

UFUNCTION(BlueprintCallable)

◆ BeginPlay()

virtual void ARRBaseRobot::BeginPlay ( )

overridevirtual

BeginPlay.

◆ BPConfigureMovementComponent()

void ARRBaseRobot::BPConfigureMovementComponent ( )

This method is called inside PostInitializeComponents.

Custom initialization of child BP class can be done by overwritting this method.

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ BPInitPropertiesFromJSON()

void ARRBaseRobot::BPInitPropertiesFromJSON ( )

This method is called inside PreInitializeComponents.

Custom initialization of child BP class can be done by overwritting this method.

Note: BlueprintImplementableEvent can't return value

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ BPPostInitializeComponents()

void ARRBaseRobot::BPPostInitializeComponents ( )

protected

This method is called inside PreInitializeComponents.

Custom initialization of child BP class can be done by overwritting this method.

Note: BlueprintImplementableEvent can't return value

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ BPPreInitializeComponents()

void ARRBaseRobot::BPPreInitializeComponents ( )

protected

This method is called inside PreInitializeComponents.

Custom initialization of child BP class can be done by overwritting this method.

Note: BlueprintImplementableEvent can't return value

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ CheckJointsInitialization()

virtual void ARRBaseRobot::CheckJointsInitialization ( )

virtual

UFUNCTION(BlueprintCallable)

◆ CheckUIUserWidget()

bool ARRBaseRobot::CheckUIUserWidget ( ) const

Check whether #UIUserWidget is valid.

◆ ConfigureMovementComponent()

virtual void ARRBaseRobot::ConfigureMovementComponent ( )

virtual

Calls both InitPropertiesFromJSON and BPInitPropertiesFromJSON.

◆ CreateROS2Interface()

void ARRBaseRobot::CreateROS2Interface ( )

Instantiate ROS 2 Interface without initializing yet.

Note: Not uses RPC but replication since the robot is not always owned by the same connection with the client's PlayerController.

See also: ARRBaseRobotROSController::OnPossess; Connection

UFUNCTION(BlueprintCallable)

◆ DeInitROS2Interface()

void ARRBaseRobot::DeInitROS2Interface ( )

Stop ROS 2 Interface. Directly call URRRobotROS2Interface::DeInitialize or execute in client via OnRep_bStartStopROS2Interface.

Note: Not uses RPC but replication since the robot is not always owned by the same connection with the client's PlayerController.

See also: Connection

UFUNCTION(BlueprintCallable)

◆ GetDynamicResourceAssetPath()

FString ARRBaseRobot::GetDynamicResourceAssetPath ( const ERRResourceDataType InDataType ) const

Get UE asset path of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.)

Parameters

InDataType

Returns: FString

◆ GetDynamicResourceName()

FString ARRBaseRobot::GetDynamicResourceName ( const ERRResourceDataType InDataType ) const

Get name of an already-stored dynamic robot resource (mesh, skeleton, physics asset, etc.)

Parameters

InDataType

Returns: FString

◆ GetLifetimeReplicatedProps()

virtual void ARRBaseRobot::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

Reimplemented from ARRBaseActor.

Reimplemented in ARobotVehicle, and ATurtlebotBurgerVehicle.

◆ GetRobotID()

uint64 ARRBaseRobot::GetRobotID ( ) const

inline

Get robot ID.

◆ GetRobotModelName()

virtual FString ARRBaseRobot::GetRobotModelName ( )

inlinevirtual

UFUNCTION(BlueprintCallable)

◆ InitMoveComponent()

virtual bool ARRBaseRobot::InitMoveComponent ( )

protectedvirtual

Create and Initialize MovementComponent if VehicleMoveComponentClass != nullptr.

If VehicleMoveComponentClass == nullptr, it is expected that MovementComponent is set from BP or user code.

Returns: true MovementComponent is created and initialized.; false VehicleMoveComponentClass == nullptr.

◆ InitPropertiesFromJSON()

virtual bool ARRBaseRobot::InitPropertiesFromJSON ( )

virtual

Parse Json parameters in ROSSpawnParameters.

This function is called in PreInitializeComponents

Please overwrite this function to parse your custom parameters

{Example Implementation of Json parser:} 
 
if (false == Super::InitPropertiesFromJSON())
 
{
 
    return false;
 
}
 
TSharedRef<TJsonReader<TCHAR>> jsonReader = TJsonReaderFactory<TCHAR>::Create(ROSSpawnParameters->ActorJsonConfigs);
 
TSharedPtr<FJsonObject> jsonObj = MakeShareable(new FJsonObject());
 
if (!FJsonSerializer::Deserialize(jsonReader, jsonObj) && jsonObj.IsValid())
 
{
 
    UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Error, TEXT("Failed to deserialize json to object"));
 
    return false;
 
}
 
// Parse single value
 
bool bParam = false;
 
if (URRGeneralUtils::GetJsonField(jsonObj, TEXT("bool_value"), bParam))
 
{
 
    UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Log, TEXT("bool value: %d"), bParam);
 
}
 
else
 
{
 
    UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Warning, TEXT("%s [bool_value] not found in json config"));
 
}
 
// Parse array
 
const TArray<TSharedPtr<FJsonValue>>* paramArray;
 
if (!jsonObj->TryGetArrayField(TEXT("array_value"), paramArray))
 
{
 
    return false;
 
}
 
for (const auto& param : *paramArray)
 
{
 
    const TSharedPtr<FJsonObject>* jObj;
 
    if (!param->TryGetObject(jObj))
 
    {
 
        UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Warning, TEXT("%s Not an object !!"));
 
        continue;
 
    }
 
    // Parse value in array
 
    float valueInParam = 0.0;
 
    if (URRGeneralUtils::GetJsonField(*jObj, TEXT("value_in_array"), valueInParam, 0.0f))
 
    {
 
        UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Log, TEXT("value_in_array : %f"), valueInParam);
 
    }
 
    else
 
    {
 
        UE_LOG_WITH_INFO_NAMED(LogRapyutaCore, Warning, TEXT("%s [value_in_array] not found in json config"));
 
    }
 
}
 
return true;

Returns: true/false

UFUNCTION(BlueprintCallable)

◆ InitPropertiesFromJSONAll()

virtual bool ARRBaseRobot::InitPropertiesFromJSONAll ( )

inlinevirtual

UFUNCTION(BlueprintCallable)

◆ InitROS2Interface()

void ARRBaseRobot::InitROS2Interface ( )

Initialize ROS 2 Interface. Directly call URRRobotROS2Interface::Initialize or execute in client via OnRep_bStartStopROS2Interface.

Note: Not uses RPC but replication since the robot is not always owned by the same connection with the client's PlayerController.

See also: ARRBaseRobotROSController::OnPossess; Connection

UFUNCTION(BlueprintCallable)

◆ InitROS2InterfaceImpl()

bool ARRBaseRobot::InitROS2InterfaceImpl ( )

UFUNCTION(BlueprintCallable)

◆ InitSensors()

virtual bool ARRBaseRobot::InitSensors ( UROS2NodeComponent * InROS2Node )

virtual

Initialize sensors components which are child class of URRROS2BaseSensorComponent.

Parameters

InROS2Node ROS2Node which sensor publishers belongs to.

Returns: true; false Given ROS2Node is invalid.

See also: TInlineComponentArray; GetComponents

◆ InitUIWidget()

virtual void ARRBaseRobot::InitUIWidget ( )

virtual

Create & init UIWidgetComp.

◆ IsAuthorizedInThisClient()

bool ARRBaseRobot::IsAuthorizedInThisClient ( )

Check necessary variables has initialized and PlayerId which spawned robot is match to this client PlayerId.

Returns: true if playerId matches robot spawn playerId

◆ IsBuiltInRobotModel()

FORCEINLINE bool ARRBaseRobot::IsBuiltInRobotModel ( ) const

inline

Is static built robot model by the Editor.

◆ IsDynamicRuntimeRobot()

FORCEINLINE bool ARRBaseRobot::IsDynamicRuntimeRobot ( ) const

inline

DynamicRuntime robot: Implemented purely in cpp, built & loaded up at runtime from raw CAD + metadata (URDF/SDF)

Note: Experimental

◆ IsStaticBPRobot()

FORCEINLINE bool ARRBaseRobot::IsStaticBPRobot ( ) const

inline

Static BP robot: implemented in BP, possibly inheriting from #ARBaseRobot or its children classes,.

built from pre-designed static UE assets (StaticMesh, SkeletalMesh, Skeleton, Physics Asset, etc.)

Note: Experimental

◆ OnRep_bStartStopROS2Interface()

virtual void ARRBaseRobot::OnRep_bStartStopROS2Interface ( )

virtual

Function called with bStartStopROS2Interface replication. Start/stop ROS2Interface if it is ready.

UFUNCTION(BlueprintCallable)

◆ OnRep_ROS2Interface()

virtual void ARRBaseRobot::OnRep_ROS2Interface ( )

virtual

Function called with ROS2Interface replication. Start ROS2Interface if bStartStopROS2Interface=true.

UFUNCTION(BlueprintCallable)

◆ PostInitializeComponents()

virtual void ARRBaseRobot::PostInitializeComponents ( )

overrideprotectedvirtual

Post Initialization process of actor. Initialize RobotVehicleMoveComponent by calling InitMoveComponent.

See also: ActorLifecycle; PostInitializeComponents

Reimplemented in ATurtlebotBurgerBase.

◆ PreInitializeComponents()

virtual void ARRBaseRobot::PreInitializeComponents ( )

overrideprotectedvirtual

Instantiate default child components.

Reimplemented from ARRBaseActor.

Reimplemented in ATurtlebotBurgerVehicle, and ARobotVehicle.

◆ ReplicateSubobjects()

virtual bool ARRBaseRobot::ReplicateSubobjects	(	UActorChannel *	Channel,
		FOutBunch *	Bunch,
		FReplicationFlags *	RepFlags
	)

overridevirtual

Allows a component to replicate other subobject on the actor.

◆ SetAngularVel()

virtual void ARRBaseRobot::SetAngularVel ( const FVector & InAngularVel )

virtual

Set angular velocity to RobotVehicleMoveComponent.

Calls SetLocalAngularVel for setting velocity to RobotVehicleMoveComponent and

SyncServerAngularMovement to sync movement of the robot in the server.

Parameters

InAngularVel

UFUNCTION(BlueprintCallable)

◆ SetBaseMeshComp()

void ARRBaseRobot::SetBaseMeshComp	(	UMeshComponent *	InBaseMeshComp,
		bool	bInMakeAsRoot = `true`,
		bool	bInDestroyDefaultRoot = `true`
	)

Set BaseMeshComp, optionally making it the new Root, replacing DefaultRoot.

Parameters

InBaseMeshComp
bInMakeAsRoot
bInDestroyDefaultRoot	Whether or not destroying DefaultRoot upon (bInMakeAsRoot == true), in which case if kept it is only to support compatibility in users' child-BP class

UFUNCTION(BlueprintCallable)

◆ SetChildComponentsCollisionEnabled()

virtual void ARRBaseRobot::SetChildComponentsCollisionEnabled ( const bool IsEnable )

virtual

Set the ChildComponents Collision Enabled.

if IsEnabled=false Set all children UPrimitiveComponents collision profile to "OverlapAll". Original profiles are saved in OriginalCollisionProfiles.

if IsEnabled=false Revert all children UPrimitiveComponents collision profile to back to original.

Parameters

IsEnable

UFUNCTION(BlueprintCallable)

◆ SetJointState()

virtual void ARRBaseRobot::SetJointState	(	const TMap< FString, TArray< float >> &	InJointState,
		const ERRJointControlType	InJointControlType
	)

virtual

Set Joints state to Joints.

Todo:: Provide a simillar method which can be used from Blueprint

◆ SetLinearVel()

virtual void ARRBaseRobot::SetLinearVel ( const FVector & InLinearVel )

virtual

Set velocity to RobotVehicleMoveComponent.

Calls SetLocalLinearVel for setting velocity to RobotVehicleMoveComponent and

SyncServerLinearMovement to sync movement of the robot in the server.

Parameters

InLinearVel

UFUNCTION(BlueprintCallable)

◆ SetLocalAngularVel()

virtual void ARRBaseRobot::SetLocalAngularVel ( const FVector & InAngularVel )

virtual

Set angular velocity to RobotVehicleMoveComponent in the client.

Note: Not uses RPC since the robot is not always owned by the same connection with the client's PlayerController.

See also: Connection

UFUNCTION(BlueprintCallable)

◆ SetLocalLinearVel()

virtual void ARRBaseRobot::SetLocalLinearVel ( const FVector & InLinearVel )

virtual

Set linear velocity to RobotVehicleMoveComponent in the client.

Note: Not uses RPC since the robot is not always owned by the same connection with the client's PlayerController.

See also: Connection

UFUNCTION(BlueprintCallable)

◆ SetMoveComponent()

virtual void ARRBaseRobot::SetMoveComponent ( UMovementComponent * InMoveComponent )

virtual

UFUNCTION(BlueprintCallable)

◆ SetRobotID()

void ARRBaseRobot::SetRobotID ( uint64 InRobotID )

inline

Set robot ID.

◆ SetRobotModelName()

virtual void ARRBaseRobot::SetRobotModelName ( const FString InName )

inlinevirtual

UFUNCTION(BlueprintCallable)

◆ SetRobotName()

void ARRBaseRobot::SetRobotName ( const FString & InRobotName )

inline

Set robot unique name.

◆ SetRootOffset()

virtual void ARRBaseRobot::SetRootOffset ( const FTransform & InRootOffset )

virtual

Set the root offset for RobotVehicleMoveComponent.

This will be added to the odometry data published in ros topic /odom

It is used, for example, to allow the robot root pose to remain constant even if we move the skeletal mesh root component for

collisions

Parameters

InRootOffset

UFUNCTION(BlueprintCallable)

◆ SetupDefault()

void ARRBaseRobot::SetupDefault ( )

Initialize default components being configurable in child BP classes.

Could only be called in constructor.

◆ StartJointsInitialization()

virtual void ARRBaseRobot::StartJointsInitialization ( )

virtual

UFUNCTION(BlueprintCallable)

◆ StopMovement()

virtual void ARRBaseRobot::StopMovement ( )

virtual

Stop robot movement, resetting all vel inputs.

UFUNCTION(BlueprintCallable)

◆ SyncServerAngularMovement()

virtual void ARRBaseRobot::SyncServerAngularMovement	(	float	InClientTimeStamp,
		const FRotator &	InClientRobotRotation,
		const FVector &	InAngularVel
	)

virtual

Set rotation and angular velocity to the robot in the server.

Parameters

InClientTimeStamp
InClientRobotRotation
InAngularVel

Note: Not uses RPC since the robot is not always owned by the same connection with the client's PlayerController.

See also: Connection

UFUNCTION(BlueprintCallable)

◆ SyncServerLinearMovement()

virtual void ARRBaseRobot::SyncServerLinearMovement	(	float	InClientTimeStamp,
		const FTransform &	InClientRobotTransform,
		const FVector &	InLinearVel
	)

virtual

Set position and linear velocity to the robot in the server.

Parameters

InClientTimeStamp
InClientRobotPosition
InLinearVel

Note: Not uses RPC since the robot is not always owned by the same connection with the client's PlayerController.

See also: Connection

UFUNCTION(BlueprintCallable)

◆ Tick()

virtual void ARRBaseRobot::Tick ( float DeltaSeconds )

overridevirtual

Wake rigid body in addition to Super::Tick()

Parameters

DeltaSeconds

Member Data Documentation

◆ BaseMeshComp

TObjectPtr<UMeshComponent> ARRBaseRobot::BaseMeshComp = nullptr

Base mesh comp, normally also as the root comp.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bInitializeJoints

bool ARRBaseRobot::bInitializeJoints = true

Initialize Joints or not. Initial pose are set in each joint.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bInitializingJoints

bool ARRBaseRobot::bInitializingJoints = false

Initialize Joints or not. Initial pose are set in each joint.

UPROPERTY(BlueprintReadWrite)

◆ bInitRobotVehicleMoveComponent

bool ARRBaseRobot::bInitRobotVehicleMoveComponent = true

Call ConfigureMovecomponent and RobotVehicleMoveComponent::Initialize() in InitMoveComponent in PostInitializeComponents or not.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bJointControl

bool ARRBaseRobot::bJointControl = true

Control Joint by ROS2 o rnot.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bMobileRobot

bool ARRBaseRobot::bMobileRobot = true

Mobile robot or not. If this is false, movecomponent=nullptr and ROS 2 odom and cmd_vel interface are disabled.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ bStartStopROS2Interface

bool ARRBaseRobot::bStartStopROS2Interface = false

Flag to start/stop ROS2Interfaces. Since RPC can't be used, use replication to trigger initialization.

UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Replicated, ReplicatedUsing = OnRep_bStartStopROS2Interface)

◆ bUIWidgetEnabled

uint8 ARRBaseRobot::bUIWidgetEnabled

Enable widget or not.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ DefaultRoot

TObjectPtr<USceneComponent> ARRBaseRobot::DefaultRoot = nullptr

UPROPERTY(VisibleAnywhere, Replicated)

◆ Joints

TMap<FString, URRJointComponent*> ARRBaseRobot::Joints

Robot Joints

Todo:: adopt to client-server.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ Links

TMap<FString, UStaticMeshComponent*> ARRBaseRobot::Links

Robot Links

Todo:: adopt to client-server.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ MovementComponent

TObjectPtr<UMovementComponent> ARRBaseRobot::MovementComponent = nullptr

Main robot movement component (kinematics/diff-drive or wheels-drive comp)

MovementComponent and RobotVehicleMoveComponent should point to same pointer.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Instanced)

◆ NetworkAuthorityType

ERRNetworkAuthorityType ARRBaseRobot::NetworkAuthorityType = ERRNetworkAuthorityType::CLIENT

Network Authority Type.

Todo:: Server is not supported yet.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OnRobotCreationDone

FOnRobotCreationDone ARRBaseRobot::OnRobotCreationDone

Robot creation done delegate.

◆ OriginalCollisionProfiles

TMap<UPrimitiveComponent*, FName> ARRBaseRobot::OriginalCollisionProfiles

Children UPrimitives components orignal collision profiles.

Retrive profiles to this variable when SetChildComponentsCollisionEnabled(false) is called

and this values are used when SetChildComponentsCollisionEnabled(true) are called.

UPROPERTY()

◆ RobotID

uint64 ARRBaseRobot::RobotID = 0

Robot ID No.

UPROPERTY(EditAnyWhere, Replicated)

◆ RobotModelName

FString ARRBaseRobot::RobotModelName

Robot Model Name (loaded from URDF/SDF)

should be same as EntityModelName in ARRBaseActor

Todo:: move to protected member

UPROPERTY(VisibleAnyWhere, BlueprintReadOnly, meta = (ExposeOnSpawn = "true"), Replicated)

◆ RobotUniqueName

FString ARRBaseRobot::RobotUniqueName

Deprecated:: Please use EntityUniqueName

UPROPERTY(EditAnywhere, BlueprintReadWrite, meta = (ExposeOnSpawn = "true"), Replicated)

◆ RobotVehicleMoveComponent

TObjectPtr<URobotVehicleMovementComponent> ARRBaseRobot::RobotVehicleMoveComponent

Movecomponent casted to URobotVehicleMovementComponent for utility.

This should be pointing same thing as MovementComponent This should be set from SetMoveComponent

UPROPERTY(EditAnywhere, BlueprintReadWrite, Instanced, Replicated)

◆ RootOffset

FTransform ARRBaseRobot::RootOffset = FTransform::Identity

Offset transform between the Actor root component and the pose that will be published in /odom topic.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ ROS2InitTimer

FTimerHandle ARRBaseRobot::ROS2InitTimer

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ ROS2Interface

TObjectPtr<URRRobotROS2Interface> ARRBaseRobot::ROS2Interface = nullptr

Robot's ROS 2 Interface.

With the client-server setup, this is created in the server and replicated to the client and initialized only in the client.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Instanced, Replicated, ReplicatedUsing = OnRep_ROS2Interface)

◆ ROS2InterfaceClass

TSubclassOf<URRRobotROS2Interface> ARRBaseRobot::ROS2InterfaceClass = nullptr

Default class to use when ROS 2 Interface is setup for robot.

UPROPERTY(EditAnywhere, BlueprintReadWrite, meta = (DisplayName = "ROS 2 Interface Class"), Replicated)

◆ ROSSpawnParameters

TObjectPtr<UROS2Spawnable> ARRBaseRobot::ROSSpawnParameters = nullptr

ROSSpawn parameters which is passed to ROS2Interface.

You can change paramter in BP for manually placed robot but Paramerter will be overwirten if you spawn from /SpawnEntity srv.

UPROPERTY(BlueprintReadWrite, Replicated)

◆ ServerRobot

TObjectPtr<ARRBaseRobot> ARRBaseRobot::ServerRobot = nullptr

Pointer to the robot's server-owned version.

Note: Owner can't be used since non-player pawn don't have that.

UPROPERTY(VisibleAnywhere, Replicated)

◆ TargetAngularVel

FVector ARRBaseRobot::TargetAngularVel = FVector::ZeroVector

[deg/s] Local target angular vel [X:Roll - Y:Pitch - Z: Yaw]

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ TargetLinearVel

FVector ARRBaseRobot::TargetLinearVel = FVector::ZeroVector

[cm/s] Local target linear vel

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ UIUserWidgetClass

TSubclassOf<UUserWidget> ARRBaseRobot::UIUserWidgetClass

Widget class.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Classes)

◆ UIWidgetComp

TObjectPtr<URRUIWidgetComponent> ARRBaseRobot::UIWidgetComp = nullptr

UI widget component.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ UIWidgetOffset

FTransform ARRBaseRobot::UIWidgetOffset = FTransform(FVector(0.f, 0.f, 100.f))

Relative pose of the UI widget from the owner robot.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ VehicleMoveComponentClass

TSubclassOf<UMovementComponent> ARRBaseRobot::VehicleMoveComponentClass

Class of the main robot movement component, configurable in child class.

If VehicleMoveComponentClass == nullptr, it is expected that MovementComponent is set from BP or user code.

UPROPERTY(EditAnywhere, 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/Robots/RRBaseRobot.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ARRBaseRobot() [1/2]

◆ ARRBaseRobot() [2/2]

Member Function Documentation

◆ AddJoint()

◆ AddLink()

◆ BeginPlay()

◆ BPConfigureMovementComponent()

◆ BPInitPropertiesFromJSON()

◆ BPPostInitializeComponents()

◆ BPPreInitializeComponents()

◆ CheckJointsInitialization()

◆ CheckUIUserWidget()

◆ ConfigureMovementComponent()

◆ CreateROS2Interface()

◆ DeInitROS2Interface()

◆ GetDynamicResourceAssetPath()

◆ GetDynamicResourceName()

◆ GetLifetimeReplicatedProps()

◆ GetRobotID()

◆ GetRobotModelName()

◆ InitMoveComponent()

◆ InitPropertiesFromJSON()

◆ InitPropertiesFromJSONAll()

◆ InitROS2Interface()

◆ InitROS2InterfaceImpl()

◆ InitSensors()

◆ InitUIWidget()

◆ IsAuthorizedInThisClient()

◆ IsBuiltInRobotModel()

◆ IsDynamicRuntimeRobot()

◆ IsStaticBPRobot()

◆ OnRep_bStartStopROS2Interface()

◆ OnRep_ROS2Interface()

◆ PostInitializeComponents()

◆ PreInitializeComponents()

◆ ReplicateSubobjects()

◆ SetAngularVel()

◆ SetBaseMeshComp()

◆ SetChildComponentsCollisionEnabled()

◆ SetJointState()

◆ SetLinearVel()

◆ SetLocalAngularVel()

◆ SetLocalLinearVel()

◆ SetMoveComponent()

◆ SetRobotID()

◆ SetRobotModelName()

◆ SetRobotName()

◆ SetRootOffset()

◆ SetupDefault()

◆ StartJointsInitialization()

◆ StopMovement()

◆ SyncServerAngularMovement()

◆ SyncServerLinearMovement()

◆ Tick()

Member Data Documentation

◆ BaseMeshComp

◆ bInitializeJoints

◆ bInitializingJoints

◆ bInitRobotVehicleMoveComponent

◆ bJointControl

◆ bMobileRobot

◆ bStartStopROS2Interface

◆ bUIWidgetEnabled

◆ DefaultRoot

◆ Joints

◆ Links

◆ MovementComponent

◆ NetworkAuthorityType

◆ OnRobotCreationDone

◆ OriginalCollisionProfiles

◆ RobotID

◆ RobotModelName

◆ RobotUniqueName

◆ RobotVehicleMoveComponent