UROS2Topic Class Reference

ROS2 topic class. Parent class of UROS2Publisher and UROS2Subscriber. More...

#include <ROS2Topic.h>

Inheritance diagram for UROS2Topic:

Collaboration diagram for UROS2Topic:

Public Member Functions
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...
virtual void	Destroy ()
	Destroy topic and TopicMessage. More...

Public Attributes
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
rmw_qos_profile_t	GetEffectiveQoS () const
	Get the effective QoS profile to use for this topic. More...
virtual void	InitializeTopicComponent ()
	Initialize ROS2 Topic. Should be implemented in UROS2Publisher and UROS2Subscriber. More...

Detailed Description

ROS2 topic class. Parent class of UROS2Publisher and UROS2Subscriber.

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

Member Function Documentation

Destroy()

virtual void UROS2Topic::Destroy ( )

virtual

Destroy topic and TopicMessage.

UFUNCTION()

Reimplemented in UROS2Subscriber, and UROS2Publisher.

GetEffectiveQoS()

rmw_qos_profile_t UROS2Topic::GetEffectiveQoS ( ) const

inlineprotected

Get the effective QoS profile to use for this topic.

Returns custom QoS if set, otherwise returns the QoS from QoS_LUT

Returns

rmw_qos_profile_t The QoS profile to use

Init()

virtual bool UROS2Topic::Init ( )

virtual

Initialize topic, InitializeMessage and InitializeTopicComponent.

Returns

true

false

UFUNCTION(BlueprintCallable)

InitializeMessage()

virtual bool UROS2Topic::InitializeMessage ( )

virtual

Create TopicMessage instance and initialize it.

UFUNCTION(BlueprintCallable)

InitializeTopicComponent()

virtual void UROS2Topic::InitializeTopicComponent ( )

protectedvirtual

Initialize ROS2 Topic. Should be implemented in UROS2Publisher and UROS2Subscriber.

UFUNCTION()

Reimplemented in UROS2Publisher, and UROS2Subscriber.

InitializeWithROS2()

virtual bool UROS2Topic::InitializeWithROS2 ( UROS2NodeComponent *  InROS2Node )

virtual

Initialize Topic with ROS2Node.

Parameters

InROS2Node

ROS2Node which this publisher/subscriber belongs to

Member Data Documentation

MsgClass

TSubclassOf<UROS2GenericMsg> UROS2Topic::MsgClass

this information is redundant with Topic, but it's needed to initialize it

UPROPERTY(EditAnywhere, BlueprintReadWrite)

OwnerNode

UROS2NodeComponent* UROS2Topic::OwnerNode = nullptr

ROS2Node which own this topic.

UPROPERTY(VisibleAnywhere, BlueprintReadWrite)

QoS

UROS2QoS UROS2Topic::QoS = UROS2QoS::Default

Quality of service.

See also

ROS2 QoS

UPROPERTY(EditAnywhere, BlueprintReadWrite)

QoSProfile

TOptional<rmw_qos_profile_t> UROS2Topic::QoSProfile

Optional custom QoS profile.

Use this when you need fine-grained QoS settings that are not covered by the UROS2QoS

enum presets (for example, custom reliability, durability, history depth, deadline,

or lifespan values).

If this optional has a value, it takes precedence over the QoS enum above and the stored

rmw_qos_profile_t is passed directly to the underlying RMW layer. If it is not set, the

QoS enum is used to derive the effective QoS settings.

Example usage in C++:

rmw_qos_profile_t CustomProfile = rmw_qos_profile_default;
 
CustomProfile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
 
CustomProfile.durability  = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 
CustomProfile.depth       = 10;
 
 
 
MyTopic->QoS = UROS2QoS::Default;   // used only if QoSProfile is not set
 
MyTopic->QoSProfile = CustomProfile; // overrides the enum-based QoS

State

TEnumAsByte<UROS2State> UROS2Topic::State = UROS2State::Created

State.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

TopicMessage

UROS2GenericMsg* UROS2Topic::TopicMessage

Message Instance.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

TopicName

FString UROS2Topic::TopicName

this information is redundant with Topic, but it's needed to initialize it

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/latest/Source/rclUE/Public/ROS2Topic.h