ROS2 Publisher class. More...

#include <ROS2Publisher.h>

Inheritance diagram for UROS2Publisher:

Collaboration diagram for UROS2Publisher:

[legend]

Public Member Functions
void	UpdateAndPublish ()
	Update Msg with delegate and publish msg. More...

void	Publish ()
	Publish msg. More...

template<typename TUEMessage , typename TUEStruct >
void	Publish (const TUEStruct &InMessageData)
	Publish a message. More...

virtual void	Destroy ()
	Destroy publisher with rcl_publisher_fini. More...

void	StopPublishTimer ()
	Stope publishing timer. More...

void	StartPublishTimer ()
	Start publishing topic with PublicationFrequencyHz. More...

virtual void	UpdateMessage (UROS2GenericMsg *InMessage)
	Update msg. Should be implemented in child class. More...

void	SetDefaultDelegates ()
	Bind UpdateMessage with UpdateDelegate. More...

void	SetDelegates (const FTopicCallback &InUpdateDelegate)
	Set the Delegates object. More...

Public Member Functions inherited from UROS2Topic
virtual bool	InitializeWithROS2 (UROS2NodeComponent *InROS2Node)
	Initialize Topic with ROS2Node. More...

virtual bool	Init ()
	Initialize topic, InitializeMessage and InitializeTopicComponent. More...

virtual bool	InitializeMessage ()
	Create TopicMessage instance and initialize it. More...

Static Public Member Functions
static UROS2Publisher *	CreateLoopPublisherWithClass (UObject *InOwner, const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const float InPubFrequency)
	Create a new UROS2Publisher of custom publisher class and andd to Node. More...

static UROS2Publisher *	CreateLoopPublisher (UObject *InOwner, const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const TSubclassOf< UROS2GenericMsg > &InMsgClass, float InPubFrequency, const FTopicCallback &InUpdateDelegate, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a Loop Publisher object. More...

static UROS2Publisher *	CreatePublisherWithClass (UObject *InOwner, const TSubclassOf< UROS2Publisher > &InPublisherClass, const FString &InTopicName=TEXT(""))
	Create a new UROS2Publisher and add to Node. More...

static UROS2Publisher *	CreatePublisher (UObject *InOwner, const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const TSubclassOf< UROS2GenericMsg > &InMsgClass, float InPubFrequency, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a new UROS2Publisher of custom type. More...

Public Attributes
float	PublicationFrequencyHz = 1.f
	Publish frequency. if this value > 0, this will update and publish msg periodically. More...

FTopicCallback	UpdateDelegate
	Delegate which is Bound with UpdateMessage by SetDefaultDelegates. More...

Public Attributes inherited from UROS2Topic
FString	TopicName
	this information is redundant with Topic, but it's needed to initialize it More...

TSubclassOf< UROS2GenericMsg >	MsgClass
	this information is redundant with Topic, but it's needed to initialize it More...

UROS2NodeComponent *	OwnerNode = nullptr
	ROS2Node which own this topic. More...

TEnumAsByte< UROS2State >	State = UROS2State::Created
	State. More...

UROS2QoS	QoS = UROS2QoS::Default
	Quality of service. More...

UROS2GenericMsg *	TopicMessage
	Message Instance. More...

Protected Member Functions
virtual void	InitializeTopicComponent ()
	Initialize Publisher and start timer. More...

Protected Attributes
FTimerHandle	TimerHandle
	Timer handler for periodic publisher. More...

const void *	PublishedMsg = nullptr
	Last published msg.

rcl_publisher_t	RclPublisher
	ROS2 publisher.

URRTimerManager *	TimerManager = nullptr
	Timer Manager. More...

Detailed Description

ROS2 Publisher class.

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

Member Function Documentation

◆ CreateLoopPublisher()

static UROS2Publisher* UROS2Publisher::CreateLoopPublisher	(	UObject *	InOwner,
		const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		float	InPubFrequency,
		const FTopicCallback &	InUpdateDelegate,
		const UROS2QoS	InQoS = `UROS2QoS::Default`
	)

static

Create a Loop Publisher object.

Parameters

InOwner
InTopicName	Topic name
InPublisherClass	Custom output publisher type class
InMsgClass	Custom message type class
InPubFrequency	Publishing frequency
InUpdateDelegate
InQoS

Returns: UROS2Publisher*

UFUNCTION(BlueprintCallable)

◆ CreateLoopPublisherWithClass()

static UROS2Publisher* UROS2Publisher::CreateLoopPublisherWithClass	(	UObject *	InOwner,
		const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const float	InPubFrequency
	)

static

Create a new UROS2Publisher of custom publisher class and andd to Node.

Custom Publisher class is expected to override #UROS2Publisher::Update which in loop with frequency.

Parameters

InOwner
InTopicName	Topic name
InPublisherClass	Custom output publisher type class
InPubFrequency	Publishing frequency

UFUNCTION(BlueprintCallable)

◆ CreatePublisher()

static UROS2Publisher* UROS2Publisher::CreatePublisher	(	UObject *	InOwner,
		const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		float	InPubFrequency,
		const UROS2QoS	InQoS = `UROS2QoS::Default`
	)

static

Create a new UROS2Publisher of custom type.

Parameters

InOwner
InTopicName	Topic name
InPublisherClass	Custom output publisher type class
InMsgClass	Custom message type class
InPubFrequency	Publishing frequency
InQoS

Returns: UROS2Publisher*

UFUNCTION(BlueprintCallable)

◆ CreatePublisherWithClass()

static UROS2Publisher* UROS2Publisher::CreatePublisherWithClass	(	UObject *	InOwner,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const FString &	InTopicName = `TEXT("")`
	)

static

Create a new UROS2Publisher and add to Node.

Parameters

InOwner
InPublisherClass
InTopicName

Returns: UROS2Publisher*

UFUNCTION(BlueprintCallable)

◆ Destroy()

virtual void UROS2Publisher::Destroy ( )

virtual

Destroy publisher with rcl_publisher_fini.

Reimplemented from UROS2Topic.

◆ InitializeTopicComponent()

virtual void UROS2Publisher::InitializeTopicComponent ( )

protectedvirtual

Initialize Publisher and start timer.

Reimplemented from UROS2Topic.

◆ Publish() [1/2]

void UROS2Publisher::Publish ( )

Publish msg.

UFUNCTION(BlueprintCallable)

◆ Publish() [2/2]

template<typename TUEMessage , typename TUEStruct >

void UROS2Publisher::Publish ( const TUEStruct & InMessageData )

inline

Publish a message.

Template Parameters

TMessageStruct

Parameters

InMessage

◆ SetDefaultDelegates()

void UROS2Publisher::SetDefaultDelegates ( )

Bind UpdateMessage with UpdateDelegate.

UFUNCTION(BlueprintCallable)

◆ SetDelegates()

void UROS2Publisher::SetDelegates ( const FTopicCallback & InUpdateDelegate )

Set the Delegates object.

Parameters

InUpdateDelegate

UFUNCTION(BlueprintCallable)

◆ StartPublishTimer()

void UROS2Publisher::StartPublishTimer ( )

Start publishing topic with PublicationFrequencyHz.

UFUNCTION(BlueprintCallable)

◆ StopPublishTimer()

void UROS2Publisher::StopPublishTimer ( )

Stope publishing timer.

UFUNCTION(BlueprintCallable)

◆ UpdateAndPublish()

void UROS2Publisher::UpdateAndPublish ( )

Update Msg with delegate and publish msg.

UFUNCTION(BlueprintCallable)

◆ UpdateMessage()

virtual void UROS2Publisher::UpdateMessage ( UROS2GenericMsg * InMessage )

inlinevirtual

Update msg. Should be implemented in child class.

Parameters

InMessage Input Message.

UFUNCTION()

Member Data Documentation

◆ PublicationFrequencyHz

float UROS2Publisher::PublicationFrequencyHz = 1.f

Publish frequency. if this value > 0, this will update and publish msg periodically.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

◆ TimerHandle

FTimerHandle UROS2Publisher::TimerHandle

protected

Timer handler for periodic publisher.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ TimerManager

URRTimerManager* UROS2Publisher::TimerManager = nullptr

protected

Timer Manager.

UPROPERTY()

◆ UpdateDelegate

FTopicCallback UROS2Publisher::UpdateDelegate

Delegate which is Bound with UpdateMessage by SetDefaultDelegates.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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

/home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/devel/Source/rclUE/Public/ROS2Publisher.h

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ CreateLoopPublisher()

◆ CreateLoopPublisherWithClass()

◆ CreatePublisher()

◆ CreatePublisherWithClass()

◆ Destroy()

◆ InitializeTopicComponent()

◆ Publish() [1/2]

◆ Publish() [2/2]

◆ SetDefaultDelegates()

◆ SetDelegates()

◆ StartPublishTimer()

◆ StopPublishTimer()

◆ UpdateAndPublish()

◆ UpdateMessage()

Member Data Documentation

◆ PublicationFrequencyHz

◆ TimerHandle

◆ TimerManager

◆ UpdateDelegate