Class implementing ROS2 node. More...

#include "Components/ActorComponent.h"
#include "Containers/Map.h"
#include "CoreMinimal.h"
#include "GameFramework/Actor.h"
#include "Actions/ROS2GenericAction.h"
#include "Msgs/ROS2GenericMsg.h"
#include "ROS2Support.h"
#include "Srvs/ROS2GenericSrv.h"
#include "ROS2NodeComponent.generated.h"

Include dependency graph for ROS2NodeComponent.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	UROS2NodeComponent
	Class implementing ROS2 node. More...

Macros
#define	ROS2_CREATE_LOOP_PUBLISHER( InROS2Node, InUserObject, InTopicName, InPublisherClass, InMsgClass, InPubFrequency, InCallback, OutPublisher)
	Create #FTopicCallback and call UROS2NodeComponent::CreateLoopPublisher. More...

#define	ROS2_CREATE_LOOP_PUBLISHER_WITH_QOS( InROS2Node, InUserObject, InTopicName, InPublisherClass, InMsgClass, InPubFrequency, InCallback, InQoS, OutPublisher)
	Create #FTopicCallback and call UROS2NodeComponent::CreateLoopPublisher. More...

#define	ROS2_CREATE_SUBSCRIBER(InROS2Node, InUserObject, InTopicName, InMsgClass, InCallback)
	Create #FsSubscriptionCallback and call UROS2NodeComponent::CreateSubscriber. More...

#define	ROS2_CREATE_SUBSCRIBERW_WITH_QOS(InROS2Node, InUserObject, InTopicName, InMsgClass, InCallback, InQoS)
	Create #FsSubscriptionCallback and call #UROS2NodeComponent::CreateSubscriberWithQoS. More...

#define	ROS2_CREATE_SERVICE_CLIENT(InROS2Node, InUserObject, InServiceName, InSrvClass, InRequestCallback, OutClient)
	Create #FServiceCallback and call UROS2NodeComponent::CreateServiceClient. More...

#define	ROS2_CREATE_SERVICE_CLIENT_WITH_QOS( InROS2Node, InUserObject, InServiceName, InSrvClass, InRequestCallback, InQoS, OutClient)
	Create #FServiceCallback and call UROS2NodeComponent::CreateServiceClient. More...

#define	ROS2_CREATE_SERVICE_SERVER(InROS2Node, InUserObject, InServiceName, InSrvClass, InResponseCallback)
	Create #FServiceCallback and call UROS2NodeComponent::CreateServiceServer. More...

#define	ROS2_CREATE_SERVICE_SERVER_WITH_QOS(InROS2Node, InUserObject, InServiceName, InSrvClass, InQoS, InResponseCallback)
	Create #FServiceCallback and call UROS2NodeComponent::CreateServiceServer. More...

#define	ROS2_CREATE_ACTION_CLIENT(InROS2Node, InUserObject, InActionName, InActionClass, InGoalResponseDelegate, InResultResponseDelegate, InFeedbackDelegate, InCancelResponseDelegate, OutClient)
	Create #FActionCallback and call UROS2NodeComponent::CreateActionClient. More...

#define	ROS2_CREATE_ACTION_CLIENT_WITH_QOS(InROS2Node, InUserObject, InActionName, InActionClass, InGoalResponseDelegate, InResultResponseDelegate, InFeedbackDelegate, InCancelResponseDelegate, InGoalQoS, InResultQoS, InFeedbackQoS, InCancelQoS, OutClient)
	Create #FActionCallback and call UROS2NodeComponent::CreateActionClient. More...

#define	ROS2_CREATE_ACTION_SERVER( InROS2Node, InUserObject, InActionName, InActionClass, InGoalDelegate, InResultDelegate, InCancelDelegate, OutServer)
	Create #FActionCallback and call UROS2NodeComponent::CreateActionServer. More...

#define	ROS2_CREATE_ACTION_SERVER_WITH_QOS(InROS2Node, InUserObject, InActionName, InActionClass, InGoalDelegate, InResultDelegate, InCancelDelegate, InGoalQoS, InResultQoS, InFeedbackQoS, InCancelQoS, OutServer)
	Create #FActionCallback and call UROS2NodeComponent::CreateActionServer. More...

#define	IS_ROS2NODE_INITED(InNode, InName, OutRes)
	Check UROS2NodeComponent is initialized or not. More...

Functions
	DECLARE_DYNAMIC_DELEGATE_OneParam (FSubscriptionCallback, const UROS2GenericMsg *, InMessage)
	BP requires a custom-made callback thus it must be Dynamic.

Detailed Description

Class implementing ROS2 node.

This class also handles tasks performed by the executor in rclc.

Additionally, helper structs FSubscription and FService are defined here as they are considered components of the node and not

additional distinct entities Publishers, subscribers, services, service clients, action servers and action clients should

register to the node with the appropriate methods (Add*).

Copyright: Copyright 2020-2022 Rapyuta Robotics Co., Ltd.

Macro Definition Documentation

◆ IS_ROS2NODE_INITED

#define IS_ROS2NODE_INITED	(	InNode,
		InName,
		OutRes
	)

Check UROS2NodeComponent is initialized or not.

Parameters

InNode	UROS2NodeComponent
InName	Node name. Used only for logging.
OutRes	bool result. true if initialized, false otherwise.

◆ ROS2_CREATE_ACTION_CLIENT

#define ROS2_CREATE_ACTION_CLIENT	(	InROS2Node,
		InUserObject,
		InActionName,
		InActionClass,
		InGoalResponseDelegate,
		InResultResponseDelegate,
		InFeedbackDelegate,
		InCancelResponseDelegate,
		OutClient
	)

Create #FActionCallback and call UROS2NodeComponent::CreateActionClient.

FActionCallback is of dynamic delegate type to be serializable for BP use

FActionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InActionName	pass to UROS2NodeComponent::CreateActionClient
InActionClass	pass to UROS2NodeComponent::CreateActionClient
InGoalResponseDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InResultResponseDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InFeedbackDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InCancelResponseDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionClient
OutClient	return value of UROS2NodeComponent::CreateActionClient

◆ ROS2_CREATE_ACTION_CLIENT_WITH_QOS

#define ROS2_CREATE_ACTION_CLIENT_WITH_QOS	(	InROS2Node,
		InUserObject,
		InActionName,
		InActionClass,
		InGoalResponseDelegate,
		InResultResponseDelegate,
		InFeedbackDelegate,
		InCancelResponseDelegate,
		InGoalQoS,
		InResultQoS,
		InFeedbackQoS,
		InCancelQoS,
		OutClient
	)

Create #FActionCallback and call UROS2NodeComponent::CreateActionClient.

FActionCallback is of dynamic delegate type to be serializable for BP use

FActionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InActionName	pass to UROS2NodeComponent::CreateActionClient
InActionClass	pass to UROS2NodeComponent::CreateActionClient
InGoalResponseDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InResultResponseDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InFeedbackDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionClient
InCancelResponseDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionClient
InGoalQoS	pass to UROS2NodeComponent::CreateActionClient
InResultQoS	pass to UROS2NodeComponent::CreateActionClient
InFeedbackQoS	pass to UROS2NodeComponent::CreateActionClient
InCancelQoS	pass to UROS2NodeComponent::CreateActionClient
OutClient	return value of UROS2NodeComponent::CreateActionClient

◆ ROS2_CREATE_ACTION_SERVER

#define ROS2_CREATE_ACTION_SERVER	(	InROS2Node,
		InUserObject,
		InActionName,
		InActionClass,
		InGoalDelegate,
		InResultDelegate,
		InCancelDelegate,
		OutServer
	)

Create #FActionCallback and call UROS2NodeComponent::CreateActionServer.

FActionCallback is of dynamic delegate type to be serializable for BP use

FActionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InActionName	pass to UROS2NodeComponent::CreateActionServer
InActionClass	pass to UROS2NodeComponent::CreateActionServer
InGoalDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionServer
InResultDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionServer
InCancelDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionServer
OutServer	return value of UROS2NodeComponent::CreateActionServer

◆ ROS2_CREATE_ACTION_SERVER_WITH_QOS

#define ROS2_CREATE_ACTION_SERVER_WITH_QOS	(	InROS2Node,
		InUserObject,
		InActionName,
		InActionClass,
		InGoalDelegate,
		InResultDelegate,
		InCancelDelegate,
		InGoalQoS,
		InResultQoS,
		InFeedbackQoS,
		InCancelQoS,
		OutServer
	)

Create #FActionCallback and call UROS2NodeComponent::CreateActionServer.

FActionCallback is of dynamic delegate type to be serializable for BP use

FActionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InActionName	pass to UROS2NodeComponent::CreateActionServer
InActionClass	pass to UROS2NodeComponent::CreateActionServer
InGoalDelegate	convert to #FActionCallback and pass to UROS2NodeComponent::CreateActionServer
InResultDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionServer
InCancelDelegate	convert to #FSimpleCallback and pass to UROS2NodeComponent::CreateActionServer
InGoalQoS	pass to UROS2NodeComponent::CreateActionServer
InResultQoS	pass to UROS2NodeComponent::CreateActionServer
InFeedbackQoS	pass to UROS2NodeComponent::CreateActionServer
InCancelQoS	pass to UROS2NodeComponent::CreateActionServer
OutServer	return value of UROS2NodeComponent::CreateActionServer

◆ ROS2_CREATE_LOOP_PUBLISHER

#define ROS2_CREATE_LOOP_PUBLISHER	(	InROS2Node,
		InUserObject,
		InTopicName,
		InPublisherClass,
		InMsgClass,
		InPubFrequency,
		InCallback,
		OutPublisher
	)

Create #FTopicCallback and call UROS2NodeComponent::CreateLoopPublisher.

FTopicCallback is of dynamic delegate type to be serializable for BP use

FTopicCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InTopicName	pass to UROS2NodeComponent::CreateLoopPublisher
InPublisherClass	pass to UROS2NodeComponent::CreateLoopPublisher
InMsgClass	pass to UROS2NodeComponent::CreateLoopPublisher
InPubFrequency	pass to UROS2NodeComponent::CreateLoopPublisher
InCallback	convert to #FTopicCallback and pass to UROS2NodeComponent::CreateLoopPublisher
OutPublisher	return value of UROS2NodeComponent::CreateLoopPublisher

◆ ROS2_CREATE_LOOP_PUBLISHER_WITH_QOS

#define ROS2_CREATE_LOOP_PUBLISHER_WITH_QOS	(	InROS2Node,
		InUserObject,
		InTopicName,
		InPublisherClass,
		InMsgClass,
		InPubFrequency,
		InCallback,
		InQoS,
		OutPublisher
	)

Create #FTopicCallback and call UROS2NodeComponent::CreateLoopPublisher.

FTopicCallback is of dynamic delegate type to be serializable for BP use

FTopicCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InTopicName	pass to UROS2NodeComponent::CreateLoopPublisher
InPublisherClass	pass to UROS2NodeComponent::CreateLoopPublisher
InMsgClass	pass to UROS2NodeComponent::CreateLoopPublisher
InPubFrequency	pass to UROS2NodeComponent::CreateLoopPublisher
InCallback	convert to #FTopicCallback and pass to UROS2NodeComponent::CreateLoopPublisher
InQoS	pass to UROS2NodeComponent::CreateLoopPublisher
OutPublisher	return value of UROS2NodeComponent::CreateLoopPublisher

◆ ROS2_CREATE_SERVICE_CLIENT

#define ROS2_CREATE_SERVICE_CLIENT	(	InROS2Node,
		InUserObject,
		InServiceName,
		InSrvClass,
		InRequestCallback,
		OutClient
	)

Create #FServiceCallback and call UROS2NodeComponent::CreateServiceClient.

FServiceCallback is of dynamic delegate type to be serializable for BP use

FServiceCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InServiceName	pass to UROS2NodeComponent::CreateServiceClient
InSrvClass	pass to UROS2NodeComponent::CreateServiceClient
InRequestCallback	convert to #FServiceCallback and pass to UROS2NodeComponent::CreateServiceClient
OutClient	return value of UROS2NodeComponent::CreateServiceClient

◆ ROS2_CREATE_SERVICE_CLIENT_WITH_QOS

#define ROS2_CREATE_SERVICE_CLIENT_WITH_QOS	(	InROS2Node,
		InUserObject,
		InServiceName,
		InSrvClass,
		InRequestCallback,
		InQoS,
		OutClient
	)

Create #FServiceCallback and call UROS2NodeComponent::CreateServiceClient.

FServiceCallback is of dynamic delegate type to be serializable for BP use

FServiceCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InServiceName	pass to UROS2NodeComponent::CreateServiceClient
InSrvClass	pass to UROS2NodeComponent::CreateServiceClient
InRequestCallback	convert to #FServiceCallback and pass to UROS2NodeComponent::CreateServiceClient
InQoS	pass to UROS2NodeComponent::CreateServiceClient
OutClient	return value of UROS2NodeComponent::CreateServiceClient

◆ ROS2_CREATE_SERVICE_SERVER

#define ROS2_CREATE_SERVICE_SERVER	(	InROS2Node,
		InUserObject,
		InServiceName,
		InSrvClass,
		InResponseCallback
	)

Create #FServiceCallback and call UROS2NodeComponent::CreateServiceServer.

FServiceCallback is of dynamic delegate type to be serializable for BP use

FServiceCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InServiceName	pass to UROS2NodeComponent::CreateServiceServer
InSrvClass	pass to UROS2NodeComponent::CreateServiceServer
InResponseCallback	convert to #FServiceCallback and pass to UROS2NodeComponent::CreateServiceServer

◆ ROS2_CREATE_SERVICE_SERVER_WITH_QOS

#define ROS2_CREATE_SERVICE_SERVER_WITH_QOS	(	InROS2Node,
		InUserObject,
		InServiceName,
		InSrvClass,
		InQoS,
		InResponseCallback
	)

Create #FServiceCallback and call UROS2NodeComponent::CreateServiceServer.

FServiceCallback is of dynamic delegate type to be serializable for BP use

FServiceCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InServiceName	pass to UROS2NodeComponent::CreateServiceServer
InSrvClass	pass to UROS2NodeComponent::CreateServiceServer
InResponseCallback	convert to #FServiceCallback and pass to UROS2NodeComponent::CreateServiceServer
InQoS	pass to UROS2NodeComponent::CreateServiceServer

◆ ROS2_CREATE_SUBSCRIBER

#define ROS2_CREATE_SUBSCRIBER	(	InROS2Node,
		InUserObject,
		InTopicName,
		InMsgClass,
		InCallback
	)

Create #FsSubscriptionCallback and call UROS2NodeComponent::CreateSubscriber.

FSubscriptionCallback is of dynamic delegate type to be serializable for BP use

FSubscriptionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InTopicName	pass to UROS2NodeComponent::CreateSubscriber
InMsgClass	pass to UROS2NodeComponent::CreateSubscriber
InCallback	convert to #FSubscriptionCallback and pass to UROS2NodeComponent::CreateSubscriber

◆ ROS2_CREATE_SUBSCRIBERW_WITH_QOS

#define ROS2_CREATE_SUBSCRIBERW_WITH_QOS	(	InROS2Node,
		InUserObject,
		InTopicName,
		InMsgClass,
		InCallback,
		InQoS
	)

Create #FsSubscriptionCallback and call #UROS2NodeComponent::CreateSubscriberWithQoS.

FSubscriptionCallback is of dynamic delegate type to be serializable for BP use

FSubscriptionCallback::BindDynamic is a macro, instead of a function.

Thus InCallback can only be a direct UFUNCTION() method & cannot be used as typed param!

Parameters

InROS2Node	UROS2NodeComponent
InUserObject	Objects of InCallback
InTopicName	pass to #UROS2NodeComponent::CreateSubscriberWithQoS
InMsgClass	pass to #UROS2NodeComponent::CreateSubscriberWithQoS
InCallback	convert to #FSubscriptionCallback and pass to UROS2NodeComponent::CreateSubscriber
InQoS	pass to UROS2NodeComponent::CreateSubscriber

Classes

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ IS_ROS2NODE_INITED

◆ ROS2_CREATE_ACTION_CLIENT

◆ ROS2_CREATE_ACTION_CLIENT_WITH_QOS

◆ ROS2_CREATE_ACTION_SERVER

◆ ROS2_CREATE_ACTION_SERVER_WITH_QOS

◆ ROS2_CREATE_LOOP_PUBLISHER

◆ ROS2_CREATE_LOOP_PUBLISHER_WITH_QOS

◆ ROS2_CREATE_SERVICE_CLIENT

◆ ROS2_CREATE_SERVICE_CLIENT_WITH_QOS

◆ ROS2_CREATE_SERVICE_SERVER

◆ ROS2_CREATE_SERVICE_SERVER_WITH_QOS

◆ ROS2_CREATE_SUBSCRIBER

◆ ROS2_CREATE_SUBSCRIBERW_WITH_QOS