ROS2 Subscriber class. More...

#include <ROS2Subscriber.h>

Inheritance diagram for UROS2Subscriber:

Collaboration diagram for UROS2Subscriber:

[legend]

Public Member Functions
virtual void	Destroy () override
	Destroy subscriber with rcl_subscriber_fini. More...

virtual void	ProcessReady ()
	Determine the relevant subscriber functions to call. More...

void	SetDelegates (const FSubscriptionCallback &InCallback)

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 UROS2Subscriber *	CreateSubscriber (UObject *InOwner, const FString &InTopicName, const TSubclassOf< UROS2GenericMsg > &InMsgClass, const FSubscriptionCallback &InCallback, const UROS2QoS InQoS=UROS2QoS::Default)
	Create a new UROS2Subscriber of custom type. More...

static UROS2Subscriber *	CreateSubscriber (UObject *InOwner, const FString &InTopicName, const TSubclassOf< UROS2GenericMsg > &InMsgClass, const FSubscriptionCallback &InCallback, const rmw_qos_profile_t &InCustomQoS)
	Create a new UROS2Subscriber with custom QoS profile. More...

Public Attributes
FSubscriptionCallback	Callback
	Delegate which is Bound with #UpdateMessage by SetDelegates. More...

rcl_subscription_t	rcl_subscription
	ROS2 subscriber.

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...

TOptional< rmw_qos_profile_t >	QoSProfile
	Optional custom QoS profile. More...

UROS2GenericMsg *	TopicMessage
	Message Instance. More...

Protected Member Functions
virtual void	InitializeTopicComponent ()
	Initialize ROS2 Subscriber. More...

Protected Member Functions inherited from UROS2Topic
rmw_qos_profile_t	GetEffectiveQoS () const
	Get the effective QoS profile to use for this topic. More...

Detailed Description

ROS2 Subscriber class.

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

Member Function Documentation

◆ CreateSubscriber() [1/2]

static UROS2Subscriber* UROS2Subscriber::CreateSubscriber	(	UObject *	InOwner,
		const FString &	InTopicName,
		const TSubclassOf< UROS2GenericMsg > &	InMsgClass,
		const FSubscriptionCallback &	InCallback,
		const rmw_qos_profile_t &	InCustomQoS
	)

static

Create a new UROS2Subscriber with custom QoS profile.

Parameters

InOwner	Owner object
InTopicName	Topic name
InMsgClass	Custom message type class
InCallback	Callback function
InCustomQoS	Custom QoS profile

◆ CreateSubscriber() [2/2]

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

static

Create a new UROS2Subscriber of custom type.

Parameters

InTopicName	Topic name
InMsgClass	Custom message type class
InCallback	Callback function

◆ Destroy()

virtual void UROS2Subscriber::Destroy ( )

overridevirtual

Destroy subscriber with rcl_subscriber_fini.

Reimplemented from UROS2Topic.

◆ InitializeTopicComponent()

virtual void UROS2Subscriber::InitializeTopicComponent ( )

protectedvirtual

Initialize ROS2 Subscriber.

Reimplemented from UROS2Topic.

◆ ProcessReady()

virtual void UROS2Subscriber::ProcessReady ( )

virtual

Determine the relevant subscriber functions to call.

◆ SetDelegates()

void UROS2Subscriber::SetDelegates ( const FSubscriptionCallback & InCallback )

UFUNCTION(BlueprintCallable)

Member Data Documentation

◆ Callback

FSubscriptionCallback UROS2Subscriber::Callback

Delegate which is Bound with #UpdateMessage by SetDelegates.

UPROPERTY(EditAnywhere, BlueprintReadWrite)

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

/home/docs/checkouts/readthedocs.org/user_builds/rclue/checkouts/latest/Source/rclUE/Public/ROS2Subscriber.h

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions