AROS2Node Class Reference

Wrapper Actor implementation of UROS2NodeComponent. More...

#include <ROS2Node.h>

Inheritance diagram for AROS2Node:

Collaboration diagram for AROS2Node:

Public Member Functions
	AROS2Node ()
	A constructor.
rcl_node_t *	GetNode ()
	Initilize rosnode with rclc_node_init_default. More...
void	AddSubscription (const FString &TopicName, TSubclassOf< UROS2GenericMsg > MsgClass, const FSubscriptionCallback &Callback)
	Methods to register subscribers. More...
void	AddPublisher (UROS2Publisher *InPublisher)
	Set this node to UROS2Publisher::OwnerNode of InPublisher and add to #Publishers. More...
void	AddServiceClient (UROS2ServiceClient *InClient)
	Set this node to UROS2ServiceClient::OwnerNode and add to #Clients. More...
void	AddServiceServer (const FString &ServiceName, const TSubclassOf< UROS2GenericSrv > SrvClass, const FServiceCallback &Callback)
	Create ServiceServer with rcl_service_init and add to Services. More...
void	AddActionClient (UROS2ActionClient *InActionClient)
	Set this node to UROS2ActionClient::OwnerNode and add to #ActionClients. More...
void	AddActionServer (UROS2ActionServer *InActionServer)
	Set this node to UROS2ActionClient::OwnerNode and add to #ActionServers. More...

Public Attributes
FString	Name = TEXT("node")
FString	Namespace = TEXT("")

Detailed Description

Wrapper Actor implementation of UROS2NodeComponent.

Deprecated:

Use UROS2NodeComponent instead.

UCLASS(Blueprintable)

Member Function Documentation

AddActionClient()

void AROS2Node::AddActionClient

(

UROS2ActionClient *

InActionClient

)

Set this node to UROS2ActionClient::OwnerNode and add to #ActionClients.

Parameters

InActionClient

UFUNCTION(BlueprintCallable)

AddActionServer()

void AROS2Node::AddActionServer

(

UROS2ActionServer *

InActionServer

)

Set this node to UROS2ActionClient::OwnerNode and add to #ActionServers.

Parameters

InActionServer

UFUNCTION(BlueprintCallable)

AddPublisher()

void AROS2Node::AddPublisher

(

UROS2Publisher *

InPublisher

)

Set this node to UROS2Publisher::OwnerNode of InPublisher and add to #Publishers.

Parameters

InPublisher

UFUNCTION(BlueprintCallable)

AddServiceClient()

void AROS2Node::AddServiceClient

(

UROS2ServiceClient *

InClient

)

Set this node to UROS2ServiceClient::OwnerNode and add to #Clients.

Parameters

InClient

UFUNCTION(BlueprintCallable)

AddServiceServer()

void AROS2Node::AddServiceServer	(	const FString &	ServiceName,
		const TSubclassOf< UROS2GenericSrv >	SrvClass,
		const FServiceCallback &	Callback
	)

Create ServiceServer with rcl_service_init and add to Services.

Note

Keep original arguments, instead of take ServiceServer as arg in ROS2NodeComponent.

Parameters

ServiceName
SrvClass
Callback

UFUNCTION(BlueprintCallable)

AddSubscription()

void AROS2Node::AddSubscription	(	const FString &	TopicName,
		TSubclassOf< UROS2GenericMsg >	MsgClass,
		const FSubscriptionCallback &	Callback
	)

Methods to register subscribers.

It is up to the user to ensure that they are only added once

Parameters

TopicName
MsgClass
Callback

UFUNCTION(BlueprintCallable)

GetNode()

rcl_node_t* AROS2Node::GetNode

(

)

Initilize rosnode with rclc_node_init_default.

This can't be pre-placed in AROS2Node::BeginPlay() as the order of rcl(c) instructions could be different/relevant in

each of Child classes

UFUNCTION(BlueprintCallable) void Init();

Member Data Documentation

Name

FString AROS2Node::Name = TEXT("node")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Namespace

FString AROS2Node::Namespace = TEXT("")

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/rclue/checkouts/devel/Source/rclUE/Public/ROS2Node.h