Base Robot ROS 2 interface class. More...

#include <RRRobotROS2Interface.h>

Inheritance diagram for URRRobotROS2Interface:

Collaboration diagram for URRRobotROS2Interface:

Public Member Functions
virtual bool	IsSupportedForNetworking () const override

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 void	Initialize (ARRBaseRobot *InRobot)
	Initialize robot's ROS 2 interface by calling InitRobotROS2Node, InitPublishers, InitSubscriptions and ARRBaseRobot::InitSensors. More...

void	BPInitialize ()
	AdditionalInitialization implemented in BP. More...

virtual void	DeInitialize ()
	DeInitialize robot's ROS 2 interface by stopping publisher. More...

void	InitRobotROS2Node (ARRBaseRobot *InRobot)
	Spawn ROS2Node and initialize it. More...

virtual void	JointCmdCallback (const UROS2GenericMsg *Msg)
	Move robot joints by setting position or velocity to Pawn(=Robot) with given ROS 2 msg. More...

void	UpdateJointState (UROS2GenericMsg *InMessage)
	Update Joint State msg. More...

virtual void	SetupROSParams ()
	Setup ROS Params, overridable by child classes to config custom ROS 2 Interface's params. More...

void	BPSetupROSParams ()
	Setup ROS params called after SetupROSParams. override by BP child class to config custom ROS 2 Interface's params. More...

void	SetupROSParamsAll ()
	Call SetupROSParams and BPSetupROSParams. More...

virtual bool	InitPublishers ()
	Initialize non sensor basic publishers such as odometry. More...

virtual void	StopPublishers ()
	Stop all publishers. More...

virtual bool	InitSubscriptions ()
	Initialize subscriptions for cmd_vel & joint_states topics. More...

virtual bool	InitServiceClients ()
	Initialize service clients. More...

virtual bool	InitServiceServers ()
	Initialize service servers. More...

virtual bool	InitActionClients ()
	Initialize action clients. More...

virtual bool	InitActionServers ()
	Initialize action servers. More...

virtual void	MovementCallback (const UROS2GenericMsg *Msg)
	MoveRobot by setting velocity to Pawn(=Robot) with given ROS 2 msg. More...

Public Attributes
TObjectPtr< ARRBaseRobot >	Robot = nullptr
	Target robot. More...

TObjectPtr< UROS2NodeComponent >	RobotROS2Node = nullptr
	ROS 2 node of this interface created by InitRobotROS2Node. More...

TObjectPtr< UROS2Spawnable >	ROSSpawnParameters = nullptr
	ROS2SpawnParameters which is created when robot is spawn from /SpawnEntity srv provided by ASimulationState. More...

TObjectPtr< URRBaseOdomComponent >	OdomComponent = nullptr
	Odometry source. More...

bool	bPublishOdom = true

bool	bPublishOdomTf = false

float	OdomPublicationFrequencyHz = 30

FString	CmdVelTopicName = TEXT("cmd_vel")
	Movement command topic. If empty is given, subscriber will not be initiated. More...

FString	JointCmdTopicName = TEXT("ue_joint_commands")
	Joint control command topic. If empty is given, subscriber will not be initiated. More...

TObjectPtr< UROS2Publisher >	JointStatePublisher = nullptr
	JointState Publisher. More...

float	JointStatePublicationFrequencyHz = 30.f
	Joint control command topic. If empty is given, subscriber will not be initiated. More...

FString	JointStateTopicName = TEXT("ue_joint_states")
	Joint state topic. More...

bool	bWarnAboutMissingLink = true

TObjectPtr< URRROS2TFsPublisher >	JointsTFPublisher = nullptr

bool	bPublishJointTf = false

float	JointTfPublicationFrequencyHz = 1.f

TObjectPtr< URRROS2OdomPublisher >	OdomPublisher = nullptr
	Odom publisher. More...

TMap< FString, UROS2Publisher * >	Publishers
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2Subscriber * >	Subscribers
	You can add your subscribers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ServiceClient * >	ServiceClients
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ServiceServer * >	ServiceServers
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ActionClient * >	ActionClients
	You can add your publishers here to ask ROS2Interface to manage. More...

TMap< FString, UROS2ActionServer * >	ActionServers
	You can add your publishers here to ask ROS2Interface to manage. More...

Protected Member Functions
template<typename TROS2Message , typename TROS2MessageData , typename TRobot , typename TRobotMemFuncType = void (TRobot::*)(const TROS2MessageData&)>
FORCEINLINE void	OnMessageReceived (const TROS2Message *InMsg, const TRobotMemFuncType &InMemFunc)

template<typename TROS2Message , typename TROS2MessageData , typename TRobot >
FORCEINLINE void	OnMessageReceivedFunc (const TROS2Message *InMsg, const TFunction< void(const TROS2MessageData &)> &InFunc)

template<typename TService , typename TServiceRequest >
void	MakeServiceRequest (const FName &InServiceName, const TServiceRequest &InRequest)

Protected Attributes
TMap< FName, UROS2ServiceClient * >	ServiceClientList

Detailed Description

Base Robot ROS 2 interface class.

This class owns ROS2Node and controls ROS 2 interfaces of the Robot, by

Providing ROS 2 subscribers to control robot joints and movement
Providing Odometry publisher.
Controling URRROS2BaseSensorComponent in ARRBaseRobot.

Please create child class of this class to custom ROS2Interface which have your own ROS2Interfaces.

Todo:: add handling of service and action.

UCLASS(Blueprintable, EditInlineNew)

Member Function Documentation

◆ BPInitialize()

void URRRobotROS2Interface::BPInitialize ( )

AdditionalInitialization implemented in BP.

Child BP class can use this method to add initialization behaviour

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ BPSetupROSParams()

void URRRobotROS2Interface::BPSetupROSParams ( )

Setup ROS params called after SetupROSParams. override by BP child class to config custom ROS 2 Interface's params.

UFUNCTION(BlueprintImplementableEvent, BlueprintCallable)

◆ DeInitialize()

virtual void URRRobotROS2Interface::DeInitialize ( )

virtual

DeInitialize robot's ROS 2 interface by stopping publisher.

Parameters

InRobot

◆ GetLifetimeReplicatedProps()

void URRRobotROS2Interface::GetLifetimeReplicatedProps ( TArray< FLifetimeProperty > & OutLifetimeProps ) const

override

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

◆ InitActionClients()

virtual bool URRRobotROS2Interface::InitActionClients ( )

virtual

Initialize action clients.

Overidden in child robot ROS 2 interface classes for specialized action clients.

UFUNCTION()

◆ InitActionServers()

virtual bool URRRobotROS2Interface::InitActionServers ( )

virtual

Initialize action servers.

Overidden in child robot ROS 2 interface classes for specialized action servers.

UFUNCTION()

◆ Initialize()

virtual void URRRobotROS2Interface::Initialize ( ARRBaseRobot * InRobot )

virtual

Initialize robot's ROS 2 interface by calling InitRobotROS2Node, InitPublishers, InitSubscriptions and ARRBaseRobot::InitSensors.

This method is mainly used by #ARRBaseoRbotROSController via ARRBaseRobot::InitROS2Interface.

Parameters

InRobot

UFUNCTION(BlueprintCallable)

◆ InitPublishers()

virtual bool URRRobotROS2Interface::InitPublishers ( )

virtual

Initialize non sensor basic publishers such as odometry.

Overidden in child robot ROS 2 interface classes for specialized publishers.

UFUNCTION()

◆ InitRobotROS2Node()

void URRRobotROS2Interface::InitRobotROS2Node ( ARRBaseRobot * InRobot )

Spawn ROS2Node and initialize it.

Parameters

InPawn

◆ InitServiceClients()

virtual bool URRRobotROS2Interface::InitServiceClients ( )

virtual

Initialize service clients.

Overidden in child robot ROS 2 interface classes for specialized services clients.

UFUNCTION()

◆ InitServiceServers()

virtual bool URRRobotROS2Interface::InitServiceServers ( )

virtual

Initialize service servers.

Overidden in child robot ROS 2 interface classes for specialized services servers.

UFUNCTION()

◆ InitSubscriptions()

virtual bool URRRobotROS2Interface::InitSubscriptions ( )

virtual

Initialize subscriptions for cmd_vel & joint_states topics.

Overidden in child robot ROS 2 interface classes for specialized topic subscriptions.

UFUNCTION()

◆ IsSupportedForNetworking()

virtual bool URRRobotROS2Interface::IsSupportedForNetworking ( ) const

inlineoverridevirtual

◆ JointCmdCallback()

virtual void URRRobotROS2Interface::JointCmdCallback ( const UROS2GenericMsg * Msg )

virtual

Move robot joints by setting position or velocity to Pawn(=Robot) with given ROS 2 msg.

Supports only 1 DOF joints.

Effort control is not supported.

See also: sensor_msgs/JointState

UFUNCTION()

◆ MakeServiceRequest()

template<typename TService , typename TServiceRequest >

void URRRobotROS2Interface::MakeServiceRequest	(	const FName &	InServiceName,
		const TServiceRequest &	InRequest
	)

inlineprotected

◆ MovementCallback()

virtual void URRRobotROS2Interface::MovementCallback ( const UROS2GenericMsg * Msg )

virtual

MoveRobot by setting velocity to Pawn(=Robot) with given ROS 2 msg.

Typically this receive Twist msg to move robot.

UFUNCTION()

◆ OnMessageReceived()

template<typename TROS2Message , typename TROS2MessageData , typename TRobot , typename TRobotMemFuncType = void (TRobot::*)(const TROS2MessageData&)>

FORCEINLINE void URRRobotROS2Interface::OnMessageReceived	(	const TROS2Message *	InMsg,
		const TRobotMemFuncType &	InMemFunc
	)

inlineprotected

◆ OnMessageReceivedFunc()

template<typename TROS2Message , typename TROS2MessageData , typename TRobot >

FORCEINLINE void URRRobotROS2Interface::OnMessageReceivedFunc	(	const TROS2Message *	InMsg,
		const TFunction< void(const TROS2MessageData &)> &	InFunc
	)

inlineprotected

◆ SetupROSParams()

virtual void URRRobotROS2Interface::SetupROSParams ( )

inlinevirtual

Setup ROS Params, overridable by child classes to config custom ROS 2 Interface's params.

UFUNCTION()

Reimplemented in URRTurtlebotROS2Interface.

◆ SetupROSParamsAll()

void URRRobotROS2Interface::SetupROSParamsAll ( )

inline

Call SetupROSParams and BPSetupROSParams.

UFUNCTION(BlueprintCallable)

◆ StopPublishers()

virtual void URRRobotROS2Interface::StopPublishers ( )

virtual

Stop all publishers.

UFUNCTION()

◆ UpdateJointState()

void URRRobotROS2Interface::UpdateJointState ( UROS2GenericMsg * InMessage )

Update Joint State msg.

Parameters

InMessage

UFUNCTION()

Member Data Documentation

◆ ActionClients

TMap<FString, UROS2ActionClient*> URRRobotROS2Interface::ActionClients

You can add your publishers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

◆ ActionServers

TMap<FString, UROS2ActionServer*> URRRobotROS2Interface::ActionServers

You can add your publishers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

◆ bPublishJointTf

bool URRRobotROS2Interface::bPublishJointTf = false

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bPublishOdom

bool URRRobotROS2Interface::bPublishOdom = true

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bPublishOdomTf

bool URRRobotROS2Interface::bPublishOdomTf = false

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ bWarnAboutMissingLink

bool URRRobotROS2Interface::bWarnAboutMissingLink = true

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ CmdVelTopicName

FString URRRobotROS2Interface::CmdVelTopicName = TEXT("cmd_vel")

Movement command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointCmdTopicName

FString URRRobotROS2Interface::JointCmdTopicName = TEXT("ue_joint_commands")

Joint control command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointStatePublicationFrequencyHz

float URRRobotROS2Interface::JointStatePublicationFrequencyHz = 30.f

Joint control command topic. If empty is given, subscriber will not be initiated.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointStatePublisher

TObjectPtr<UROS2Publisher> URRRobotROS2Interface::JointStatePublisher = nullptr

JointState Publisher.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ JointStateTopicName

FString URRRobotROS2Interface::JointStateTopicName = TEXT("ue_joint_states")

Joint state topic.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointsTFPublisher

TObjectPtr<URRROS2TFsPublisher> URRRobotROS2Interface::JointsTFPublisher = nullptr

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ JointTfPublicationFrequencyHz

float URRRobotROS2Interface::JointTfPublicationFrequencyHz = 1.f

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomComponent

TObjectPtr<URRBaseOdomComponent> URRRobotROS2Interface::OdomComponent = nullptr

Odometry source.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomPublicationFrequencyHz

float URRRobotROS2Interface::OdomPublicationFrequencyHz = 30

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ OdomPublisher

TObjectPtr<URRROS2OdomPublisher> URRRobotROS2Interface::OdomPublisher = nullptr

Odom publisher.

UPROPERTY(Transient, BlueprintReadWrite, Replicated)

◆ Publishers

TMap<FString, UROS2Publisher*> URRRobotROS2Interface::Publishers

You can add your publishers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

◆ Robot

TObjectPtr<ARRBaseRobot> URRRobotROS2Interface::Robot = nullptr

Target robot.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ RobotROS2Node

TObjectPtr<UROS2NodeComponent> URRRobotROS2Interface::RobotROS2Node = nullptr

ROS 2 node of this interface created by InitRobotROS2Node.

UPROPERTY(EditAnywhere, BlueprintReadWrite, Replicated)

◆ ROSSpawnParameters

TObjectPtr<UROS2Spawnable> URRRobotROS2Interface::ROSSpawnParameters = nullptr

ROS2SpawnParameters which is created when robot is spawn from /SpawnEntity srv provided by ASimulationState.

UPROPERTY(VisibleAnywhere, Replicated)

◆ ServiceClientList

TMap<FName , UROS2ServiceClient*> URRRobotROS2Interface::ServiceClientList

protected

UPROPERTY()

◆ ServiceClients

TMap<FString, UROS2ServiceClient*> URRRobotROS2Interface::ServiceClients

You can add your publishers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

◆ ServiceServers

TMap<FString, UROS2ServiceServer*> URRRobotROS2Interface::ServiceServers

You can add your publishers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

◆ Subscribers

TMap<FString, UROS2Subscriber*> URRRobotROS2Interface::Subscribers

You can add your subscribers here to ask ROS2Interface to manage.

Other option is to create child class to overwrite each method.

UPROPERTY(Transient, BlueprintReadWrite)

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

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/diffdrive_with_rrjoint/Source/RapyutaSimulationPlugins/Public/Robots/RRRobotROS2Interface.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ BPInitialize()

◆ BPSetupROSParams()

◆ DeInitialize()

◆ GetLifetimeReplicatedProps()

◆ InitActionClients()

◆ InitActionServers()

◆ Initialize()

◆ InitPublishers()

◆ InitRobotROS2Node()

◆ InitServiceClients()

◆ InitServiceServers()

◆ InitSubscriptions()

◆ IsSupportedForNetworking()

◆ JointCmdCallback()

◆ MakeServiceRequest()

◆ MovementCallback()

◆ OnMessageReceived()

◆ OnMessageReceivedFunc()

◆ SetupROSParams()

◆ SetupROSParamsAll()

◆ StopPublishers()

◆ UpdateJointState()

Member Data Documentation

◆ ActionClients

◆ ActionServers

◆ bPublishJointTf

◆ bPublishOdom

◆ bPublishOdomTf

◆ bWarnAboutMissingLink

◆ CmdVelTopicName

◆ JointCmdTopicName

◆ JointStatePublicationFrequencyHz

◆ JointStatePublisher

◆ JointStateTopicName

◆ JointsTFPublisher

◆ JointTfPublicationFrequencyHz

◆ OdomComponent

◆ OdomPublicationFrequencyHz

◆ OdomPublisher

◆ Publishers

◆ Robot

◆ RobotROS2Node

◆ ROSSpawnParameters

◆ ServiceClientList

◆ ServiceClients

◆ ServiceServers

◆ Subscribers