rclcUtilities.h File Reference

Header containing utilities and includes that are needed/useful in almost any class in rclUE. More...

#include <cstdlib>
#include <cstring>
#include <random>
#include "HAL/UnrealMemory.h"
#include "Kismet/GameplayStatics.h"
#include "Kismet/KismetSystemLibrary.h"
#include "UObject/Object.h"
#include "builtin_interfaces/msg/detail/time__struct.h"
#include "geometry_msgs/msg/quaternion.h"
#include "geometry_msgs/msg/transform.h"
#include "geometry_msgs/msg/vector3.h"
#include "rosidl_runtime_c/string.h"
#include "rosidl_runtime_c/string_functions.h"
#include "rosidl_runtime_c/u16string_functions.h"
#include "std_msgs/msg/string.h"
#include "logUtilities.h"
#include "rcl/graph.h"
#include "rcl/wait.h"
#include "rcl_action/wait.h"
#include "rclc/rclc.h"
#include "rclcUtilities.generated.h"

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Classes
class	URRTimerManager
	Custom timer manager. This try to execute delegate at a given fixed rate. More...
class	UROS2Utils

Macros
#define	RCSOFTCHECK(fn)
	this macro can be used on rcl functions that return an error code

Enumerations
enum	UROS2State { , Initialized }
	used to add states to classes (e.g. to avoid double initializations) More...
enum	UROS2QoS : uint8 { ,   UROS2QoS::SensorData, UROS2QoS::DynamicBroadcaster, UROS2QoS::StaticBroadcaster, UROS2QoS::ClockPub,   UROS2QoS::KeepLast, UROS2QoS::Parameters, UROS2QoS::Services, UROS2QoS::ParameterEvents,   UROS2QoS::System, UROS2QoS::UnknownQoS }
	used to set QoS policies More...

Variables
static const rmw_qos_profile_t	rclUE_qos_profile_keep_last
	profiles provided by rclUE
static const rmw_qos_profile_t	rclUE_qos_profile_sensor_data
	profiles provided by rclUE
static const rmw_qos_profile_t	rclUE_qos_profile_clock_pub
	profiles provided by rclUE
static const rmw_qos_profile_t	rclUE_qos_profile_dynamic_broadcaster
	profiles provided by rclUE
static const rmw_qos_profile_t	rclUE_qos_profile_static_broadcaster
	profiles provided by rclUE
static const TMap< UROS2QoS, rmw_qos_profile_t >	QoS_LUT
	Look-Up Table matching enum with rcl profiles.

Detailed Description

Header containing utilities and includes that are needed/useful in almost any class in rclUE.

Copyright

Copyright 2020-2022 Rapyuta Robotics Co., Ltd.

Enumeration Type Documentation

UROS2QoS

enum UROS2QoS : uint8

strong

used to set QoS policies

also check rmw/types.h for details

UENUM()

Enumerator
SensorData	UMETA(DisplayName = "Default"),.
DynamicBroadcaster	UMETA(DisplayName = "SensorData"),.
StaticBroadcaster	UMETA(DisplayName = "DynamicBroadcaster"),.
ClockPub	UMETA(DisplayName = "StaticBroadcaster"),.
KeepLast	UMETA(DisplayName = "ClockPub"),.
Parameters	UMETA(DisplayName = "KeepLast"),.
Services	UMETA(DisplayName = "Parameters"),.
ParameterEvents	UMETA(DisplayName = "Services"),.
System	UMETA(DisplayName = "ParameterEvents"),.
UnknownQoS	UMETA(DisplayName = "System"),.

UROS2State

enum UROS2State

used to add states to classes (e.g. to avoid double initializations)

UENUM()

Enumerator
Initialized	UMETA(DisplayName = "Created"),.