UROS2NodeComponent Class Reference

Class implementing ROS2 node. More...

#include <ROS2NodeComponent.h>

Inheritance diagram for UROS2NodeComponent:

Collaboration diagram for UROS2NodeComponent:

Public Member Functions
	UROS2NodeComponent ()
	A constructor.
virtual void	TickComponent (float DeltaTime, ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction) override
	Called every frame. More...
void	Init ()
	Initilize rosnode with rclc_node_init_default. More...
void	AddPublisher (UROS2Publisher *InPublisher)
	Set this node to UROS2Publisher::OwnerNode of InPublisher and add to Publishers. More...
UROS2Publisher *	CreateLoopPublisherWithClass (const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const float InPubFrequency)
	Create a new UROS2Publisher of custom publisher class and add to Node. More...
UROS2Publisher *	CreateLoopPublisher (const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const TSubclassOf< UROS2GenericMsg > &InMsgClass, const float InPubFrequency, const FTopicCallback &InUpdateDelegate, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a new UROS2Publisher and add to Node. More...
UROS2Publisher *	CreatePublisherWithClass (const TSubclassOf< UROS2Publisher > &InPublisherClass, const FString &InTopicName=TEXT(""))
	Create a new UROS2Publisher of custom publisher class and add to Node. More...
UROS2Publisher *	CreatePublisher (const FString &InTopicName, const TSubclassOf< UROS2Publisher > &InPublisherClass, const TSubclassOf< UROS2GenericMsg > &InMsgClass, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a new UROS2Publisher and add to Node. More...
void	AddSubscription (UROS2Subscriber *InSubscriber)
	Methods to register subscribers. More...
UROS2Subscriber *	CreateSubscriber (const FString &InTopicName, const TSubclassOf< UROS2GenericMsg > &InMsgClass, const FSubscriptionCallback &InCallback, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a new UROS2Subscriber and add to Node. More...
void	AddServiceClient (UROS2ServiceClient *InServiceClient)
	Set this node to UROS2ServiceClient::OwnerNode and add to ServiceClients. More...
UROS2ServiceClient *	CreateServiceClient (const FString &InServiceName, const TSubclassOf< UROS2GenericSrv > &InSrvClass, const FServiceCallback &InResponseDelegate, const UROS2QoS InQoS=UROS2QoS::Services)
	Create a new UROS2ServiceClient and add to Node. More...
void	AddServiceServer (UROS2ServiceServer *InServiceServer)
	Create ServiceServer with rcl_service_init and add to ServiceServers. More...
UROS2ServiceServer *	CreateServiceServer (const FString &InServiceName, const TSubclassOf< UROS2GenericSrv > &InSrvClass, const FServiceCallback &InCallback, const UROS2QoS InQoS=UROS2QoS::Services)
	Create a new UROS2ServiceServer and add to Node. More...
void	AddActionClient (UROS2ActionClient *InActionClient)
	Set this node to UROS2ActionClient::OwnerNode and add to ActionClients. More...
UROS2ActionClient *	CreateActionClient (const FString &InActionName, const TSubclassOf< UROS2GenericAction > &InActionClass, const FActionCallback &InGoalResponseDelegate, const FActionCallback &InResultResponseDelegate, const FActionCallback &InFeedbackDelegate, const FSimpleCallback &InCancelResponseDelegate, const UROS2QoS InGoalQoS=UROS2QoS::Services, const UROS2QoS InResultQoS=UROS2QoS::Services, const UROS2QoS InFeedbackQoS=UROS2QoS::Default, const UROS2QoS InCancelQoS=UROS2QoS::Services)
	Create a new UROS2ActionClient and add to Node. More...
void	AddActionServer (UROS2ActionServer *InActionServer)
	Set this node to UROS2ActionClient::OwnerNode and add to ActionServers. More...
UROS2ActionServer *	CreateActionServer (const FString &InActionName, const TSubclassOf< UROS2GenericAction > &InActionClass, const FActionCallback &InGoalDelegate, const FSimpleCallback &InResultDelegate, const FSimpleCallback &InCancelDelegate, const UROS2QoS InGoalQoS=UROS2QoS::Services, const UROS2QoS InResultQoS=UROS2QoS::Services, const UROS2QoS InFeedbackQoS=UROS2QoS::Default, const UROS2QoS InCancelQoS=UROS2QoS::Services)
	Create a Action Server and add to Node. More...

Static Public Member Functions
static UROS2NodeComponent *	CreateNewNode (UObject *InOwner, const FString &InNodeName, const FString &InNodeNamespace, const FString &InCompName=TEXT("ROS2NodeComponent"), const bool Init=true)
	Create a New Node object. More...

Public Attributes
TEnumAsByte< UROS2State >	State = UROS2State::Created
	Node state. More...
FString	Name = TEXT("node")
FString	Namespace = TEXT("")
int	NGuardConditions = 0
	wait_set quantities - currently unused More...
int	NTimers = 0
int	NEvents = 0

Protected Member Functions
virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override
	Overridable function called whenever this actor is being removed from a level. More...
void	SpinSome ()
	method used to wait on communication and call delegates when appropriate modeled after executor + actions. More...

Protected Attributes
UROS2Support *	Support
TArray< UROS2Subscriber * >	Subscriptions
TArray< UROS2ServiceServer * >	ServiceServers
TArray< UROS2Publisher * >	Publishers
TArray< UROS2ServiceClient * >	ServiceClients
TArray< UROS2ActionClient * >	ActionClients
TArray< UROS2ActionServer * >	ActionServers
float	LogLastHit = 0.f
	internal property used to log throttle. More...

Private Member Functions
void	HandleSubscriptions ()
	based on _rclc_default_scheduling of the rclc executor. More...
void	HandleServiceServers ()
	based on _rclc_default_scheduling of the rclc executor. More...
void	HandleServiceClients ()
	based on _rclc_default_scheduling of the rclc executor. More...
void	HandleActionClients ()
	based on _rclc_default_scheduling of the rclc executor. More...
void	HandleActionServers ()
	based on _rclc_default_scheduling of the rclc executor. More...
void	InvalidateWaitSet ()
	invalidate #wait_set so that in next spin_some() call the More...

Detailed Description

Class implementing ROS2 node.

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

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*).

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

Member Function Documentation

AddActionClient()

void UROS2NodeComponent::AddActionClient

(

UROS2ActionClient *

InActionClient

)

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

Parameters

InActionClient

UFUNCTION(BlueprintCallable)

AddActionServer()

void UROS2NodeComponent::AddActionServer

(

UROS2ActionServer *

InActionServer

)

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

Parameters

InActionServer

UFUNCTION(BlueprintCallable)

AddPublisher()

void UROS2NodeComponent::AddPublisher

(

UROS2Publisher *

InPublisher

)

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

Parameters

InPublisher

UFUNCTION(BlueprintCallable)

AddServiceClient()

void UROS2NodeComponent::AddServiceClient

(

UROS2ServiceClient *

InServiceClient

)

Set this node to UROS2ServiceClient::OwnerNode and add to ServiceClients.

Parameters

InClient

UFUNCTION(BlueprintCallable)

AddServiceServer()

void UROS2NodeComponent::AddServiceServer

(

UROS2ServiceServer *

InServiceServer

)

Create ServiceServer with rcl_service_init and add to ServiceServers.

Parameters

ServiceName
SrvClass
Callback

UFUNCTION(BlueprintCallable)

AddSubscription()

void UROS2NodeComponent::AddSubscription

(

UROS2Subscriber *

InSubscriber

)

Methods to register subscribers.

Parameters

TopicName
MsgClass
Callback

UFUNCTION(BlueprintCallable)

CreateActionClient()

UROS2ActionClient* UROS2NodeComponent::CreateActionClient	(	const FString &	InActionName,
		const TSubclassOf< UROS2GenericAction > &	InActionClass,
		const FActionCallback &	InGoalResponseDelegate,
		const FActionCallback &	InResultResponseDelegate,
		const FActionCallback &	InFeedbackDelegate,
		const FSimpleCallback &	InCancelResponseDelegate,
		const UROS2QoS	InGoalQoS = UROS2QoS::Services,
		const UROS2QoS	InResultQoS = UROS2QoS::Services,
		const UROS2QoS	InFeedbackQoS = UROS2QoS::Default,
		const UROS2QoS	InCancelQoS = UROS2QoS::Services
	)

Create a new UROS2ActionClient and add to Node.

Parameters

InActionName
InActionClass
InFeedbackDelegate
InResultResponseDelegate
InGoalResponseDelegate
InCancelResponseDelegate
InFeedbackQoS
InResultQoS
InGoalQoS
InCancelQoS

Returns

UROS2ActionClient*

CreateActionServer()

UROS2ActionServer* UROS2NodeComponent::CreateActionServer	(	const FString &	InActionName,
		const TSubclassOf< UROS2GenericAction > &	InActionClass,
		const FActionCallback &	InGoalDelegate,
		const FSimpleCallback &	InResultDelegate,
		const FSimpleCallback &	InCancelDelegate,
		const UROS2QoS	InGoalQoS = UROS2QoS::Services,
		const UROS2QoS	InResultQoS = UROS2QoS::Services,
		const UROS2QoS	InFeedbackQoS = UROS2QoS::Default,
		const UROS2QoS	InCancelQoS = UROS2QoS::Services
	)

Create a Action Server and add to Node.

Parameters

InActionName
InActionClass
InGoalDelegate
InCancelDelegate
InResultDelegate
InFeedbackQoS
InResultQoS
InGoalQoS
InCancelQoS

Returns

UROS2ActionServer*

CreateLoopPublisher()

UROS2Publisher* UROS2NodeComponent::CreateLoopPublisher	(	const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		const float	InPubFrequency,
		const FTopicCallback &	InUpdateDelegate,
		const UROS2QoS	InQoS = UROS2QoS::Default
	)

Create a new UROS2Publisher and add to Node.

Parameters

InTopicName	Topic name
InPublisherClass	Custom output publisher type class
InMsgClass	Custom message type class
InPubFrequency	Publishing frequency
InUpdateDelegate	Delegate which is called with given frequency.
InQoS	QoS. Default is UROS2QoS::Default

UFUNCTION(BlueprintCallable)

CreateLoopPublisherWithClass()

UROS2Publisher* UROS2NodeComponent::CreateLoopPublisherWithClass	(	const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const float	InPubFrequency
	)

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

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

Parameters

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

UFUNCTION(BlueprintCallable)

CreateNewNode()

static UROS2NodeComponent* UROS2NodeComponent::CreateNewNode ( UObject *  InOwner, const FString &  InNodeName, const FString &  InNodeNamespace, const FString &  InCompName = TEXT("ROS2NodeComponent"), const bool  Init = true  )

static

Create a New Node object.

Used outside of constructor.

Parameters

InNodeName
InNodeNamespace
InCompName

Returns

UROS2NodeComponent*

UFUNCTION(BlueprintCallable)

CreatePublisher()

UROS2Publisher* UROS2NodeComponent::CreatePublisher	(	const FString &	InTopicName,
		const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		const UROS2QoS	InQoS = UROS2QoS::Default
	)

Create a new UROS2Publisher and add to Node.

Parameters

InTopicName	Topic name
InPublisherClass	Custom output publisher type class
InMsgClass	Custom message type class
InQoS	QoS. Default is UROS2QoS::Default

UFUNCTION(BlueprintCallable)

CreatePublisherWithClass()

UROS2Publisher* UROS2NodeComponent::CreatePublisherWithClass	(	const TSubclassOf< UROS2Publisher > &	InPublisherClass,
		const FString &	InTopicName = TEXT("")
	)

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

Parameters

InPublisherClass
InTopicName

Returns

UROS2Publisher*

UFUNCTION(BlueprintCallable)

CreateServiceClient()

UROS2ServiceClient* UROS2NodeComponent::CreateServiceClient	(	const FString &	InServiceName,
		const TSubclassOf< UROS2GenericSrv > &	InSrvClass,
		const FServiceCallback &	InResponseDelegate,
		const UROS2QoS	InQoS = UROS2QoS::Services
	)

Create a new UROS2ServiceClient and add to Node.

Parameters

InServiceName
InSrvClass
InRequestDelegate
InResponseDelegate
InQoS	QoS. Default is UROS2QoS::Default

Returns

UROS2NodeComponent*

UFUNCTION(BlueprintCallable)

CreateServiceServer()

UROS2ServiceServer* UROS2NodeComponent::CreateServiceServer	(	const FString &	InServiceName,
		const TSubclassOf< UROS2GenericSrv > &	InSrvClass,
		const FServiceCallback &	InCallback,
		const UROS2QoS	InQoS = UROS2QoS::Services
	)

Create a new UROS2ServiceServer and add to Node.

Parameters

InTopicName	Topic name
InSrvClass	Custom message type class
InCallback	Callback function

UFUNCTION(BlueprintCallable)

CreateSubscriber()

UROS2Subscriber* UROS2NodeComponent::CreateSubscriber	(	const FString &	InTopicName,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		const FSubscriptionCallback &	InCallback,
		const UROS2QoS	InQoS = UROS2QoS::Default
	)

Create a new UROS2Subscriber and add to Node.

Parameters

InTopicName
InMsgClass
InCallback

Returns

UROS2Subscriber*

UFUNCTION(BlueprintCallable)

EndPlay()

virtual void UROS2NodeComponent::EndPlay ( const EEndPlayReason::Type  EndPlayReason )

overrideprotectedvirtual

Overridable function called whenever this actor is being removed from a level.

Parameters

EndPlayReason

See also

AActor::EndPlay

HandleActionClients()

void UROS2NodeComponent::HandleActionClients ( )

private

based on _rclc_default_scheduling of the rclc executor.

Called inside SpinSome. rcl_take_response_with_info to get response and execute Callback.

UFUNCTION()

HandleActionServers()

void UROS2NodeComponent::HandleActionServers ( )

private

based on _rclc_default_scheduling of the rclc executor.

Called inside SpinSome. rcl_take_response_with_info to get response and execute Callback.

UFUNCTION()

HandleServiceClients()

void UROS2NodeComponent::HandleServiceClients ( )

private

based on _rclc_default_scheduling of the rclc executor.

Called inside SpinSome. rcl_take_response_with_info to get response and execute Callback.

UFUNCTION()

HandleServiceServers()

void UROS2NodeComponent::HandleServiceServers ( )

private

based on _rclc_default_scheduling of the rclc executor.

Called inside SpinSome. rcl_take_request_with_info to get request, execute Callback and rcl_send_response to send response

UFUNCTION()

HandleSubscriptions()

void UROS2NodeComponent::HandleSubscriptions ( )

private

based on _rclc_default_scheduling of the rclc executor.

Called inside SpinSome. rcl_take to get topic and execute Callback.

UFUNCTION()

Init()

void UROS2NodeComponent::Init

(

)

Initilize rosnode with rclc_node_init_default.

This can't be pre-placed in #UROS2NodeComponent::BeginPlay() as the order of rcl(c) instructions could be different/relevant

in each of Child classes

UFUNCTION(BlueprintCallable)

InvalidateWaitSet()

void UROS2NodeComponent::InvalidateWaitSet ( )

private

invalidate #wait_set so that in next spin_some() call the

#wait_set is updated accordingly in SpinSome

See also

[rclc_executor_add_subscription_with_context in

rclc/executor.c](https://github.com/ros2/rclc/blob/243ee63ca369f0fb90397ba9ae0ca1283ab16ad3/rclc/src/rclc/executor.c#L207)

UFUNCTION()

SpinSome()

void UROS2NodeComponent::SpinSome ( )

protected

method used to wait on communication and call delegates when appropriate modeled after executor + actions.

See also

[rclc_executor_spin_some in

rclc/executor.c](https://github.com/ros2/rclc/blob/243ee63ca369f0fb90397ba9ae0ca1283ab16ad3/rclc/src/rclc/executor.c#L1802)

UFUNCTION()

TickComponent()

virtual void UROS2NodeComponent::TickComponent ( float  DeltaTime, ELevelTick  TickType, FActorComponentTickFunction *  ThisTickFunction  )

overridevirtual

Called every frame.

Parameters

DeltaTime
TickType
ThisTickFunction

Member Data Documentation

ActionClients

TArray<UROS2ActionClient*> UROS2NodeComponent::ActionClients

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

ActionServers

TArray<UROS2ActionServer*> UROS2NodeComponent::ActionServers

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

LogLastHit

float UROS2NodeComponent::LogLastHit = 0.f

protected

internal property used to log throttle.

UPROPERTY()

Name

FString UROS2NodeComponent::Name = TEXT("node")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Namespace

FString UROS2NodeComponent::Namespace = TEXT("")

UPROPERTY(EditAnywhere, BlueprintReadWrite)

NEvents

int UROS2NodeComponent::NEvents = 0

UPROPERTY(VisibleAnywhere, Category = "Diagnostics")

NGuardConditions

int UROS2NodeComponent::NGuardConditions = 0

wait_set quantities - currently unused

UPROPERTY(VisibleAnywhere, Category = "Diagnostics")

NTimers

int UROS2NodeComponent::NTimers = 0

UPROPERTY(VisibleAnywhere, Category = "Diagnostics")

Publishers

TArray<UROS2Publisher*> UROS2NodeComponent::Publishers

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

ServiceClients

TArray<UROS2ServiceClient*> UROS2NodeComponent::ServiceClients

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

ServiceServers

TArray<UROS2ServiceServer*> UROS2NodeComponent::ServiceServers

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

State

TEnumAsByte<UROS2State> UROS2NodeComponent::State = UROS2State::Created

Node state.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

Subscriptions

TArray<UROS2Subscriber*> UROS2NodeComponent::Subscriptions

protected

UPROPERTY(EditAnywhere, BlueprintReadWrite)

Support

UROS2Support* UROS2NodeComponent::Support

protected

UPROPERTY()

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

• /home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/latest/Source/rclUE/Public/ROS2NodeComponent.h