#include <ROS2.h>

Collaboration diagram for carla::ros2::ROS2:

Public Member Functions
void	AddActorCallback (void *actor, std::string ros_name, ActorCallback callback)

void	AddActorParentRosName (void actor, void parent)

void	AddActorRosName (void *actor, std::string ros_name)

void	Enable (bool enable)

void	EnableStream (carla::streaming::detail::stream_id_type id)

std::string	GetActorParentRosName (void *actor)

std::string	GetActorRosName (void *actor)

bool	IsEnabled ()

bool	IsStreamEnabled (carla::streaming::detail::stream_id_type id)

void	ProcessDataFromCamera (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, int W, int H, float Fov, const carla::SharedBufferView buffer, void *actor=nullptr)

void	ProcessDataFromCollisionSensor (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, uint32_t other_actor, carla::geom::Vector3D impulse, void *actor)

void	ProcessDataFromDVS (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, const carla::SharedBufferView buffer, int W, int H, float Fov, void *actor=nullptr)

void	ProcessDataFromGNSS (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, const carla::geom::GeoLocation &data, void *actor=nullptr)

void	ProcessDataFromIMU (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, carla::geom::Vector3D accelerometer, carla::geom::Vector3D gyroscope, float compass, void *actor=nullptr)

void	ProcessDataFromLidar (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, carla::sensor::data::LidarData &data, void *actor=nullptr)

void	ProcessDataFromObstacleDetection (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, AActor first_actor, AActor second_actor, float distance, void *actor=nullptr)

void	ProcessDataFromRadar (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, const carla::sensor::data::RadarData &data, void *actor=nullptr)

void	ProcessDataFromSemanticLidar (uint64_t sensor_type, carla::streaming::detail::stream_id_type stream_id, const carla::geom::Transform sensor_transform, carla::sensor::data::SemanticLidarData &data, void *actor=nullptr)

void	RemoveActorCallback (void *actor)

void	RemoveActorRosName (void *actor)

void	ResetStreams ()

	ROS2 (const ROS2 &obj)=delete

void	SetFrame (uint64_t frame)

void	SetTimestamp (double timestamp)

void	Shutdown ()

void	UpdateActorRosName (void *actor, std::string ros_name)

Static Public Member Functions
static std::shared_ptr< ROS2 >	GetInstance ()

Private Member Functions
std::pair< std::shared_ptr< CarlaPublisher >, std::shared_ptr< CarlaTransformPublisher > >	GetOrCreateSensor (int type, carla::streaming::detail::stream_id_type id, void *actor)

	ROS2 ()

Private Attributes
std::unordered_map< void *, ActorCallback >	_actor_callbacks

std::unordered_map< void , std::vector< void > >	_actor_parent_ros_name

std::unordered_map< void *, std::string >	_actor_ros_name

std::shared_ptr< CarlaClockPublisher >	_clock_publisher

std::shared_ptr< CarlaEgoVehicleControlSubscriber >	_controller

bool	_enabled { false }

uint64_t	_frame { 0 }

uint32_t	_nanoseconds { 0 }

std::unordered_set< carla::streaming::detail::stream_id_type >	_publish_stream

std::unordered_map< void *, std::shared_ptr< CarlaPublisher > >	_publishers

int32_t	_seconds { 0 }

std::unordered_map< void *, std::shared_ptr< CarlaTransformPublisher > >	_transforms

Static Private Attributes
static std::shared_ptr< ROS2 >	_instance

Detailed Description

Definition at line 45 of file ROS2.h.

Constructor & Destructor Documentation

◆ ROS2() [1/2]

carla::ros2::ROS2::ROS2 ( const ROS2 & obj )

delete

◆ ROS2() [2/2]

carla::ros2::ROS2::ROS2 ( )

inlineprivate

Definition at line 148 of file ROS2.h.

Member Function Documentation

◆ AddActorCallback()

void carla::ros2::ROS2::AddActorCallback	(	void *	actor,
		std::string	ros_name,
		ActorCallback	callback
	)

Definition at line 174 of file ROS2.cpp.

References _actor_callbacks, and _controller.

◆ AddActorParentRosName()

void carla::ros2::ROS2::AddActorParentRosName	(	void *	actor,
		void *	parent
	)

Definition at line 114 of file ROS2.cpp.

References _actor_parent_ros_name.

◆ AddActorRosName()

void carla::ros2::ROS2::AddActorRosName	(	void *	actor,
		std::string	ros_name
	)

Definition at line 110 of file ROS2.cpp.

References _actor_ros_name.

◆ Enable()

void carla::ros2::ROS2::Enable ( bool enable )

Definition at line 73 of file ROS2.cpp.

References _clock_publisher, _enabled, and carla::log_info().

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◆ EnableStream()

void carla::ros2::ROS2::EnableStream ( carla::streaming::detail::stream_id_type id )

inline

Definition at line 77 of file ROS2.h.

◆ GetActorParentRosName()

std::string carla::ros2::ROS2::GetActorParentRosName ( void * actor )

Definition at line 147 of file ROS2.cpp.

References _actor_parent_ros_name, and GetActorRosName().

Referenced by GetOrCreateSensor().

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◆ GetActorRosName()

std::string carla::ros2::ROS2::GetActorRosName ( void * actor )

Definition at line 138 of file ROS2.cpp.

References _actor_ros_name.

Referenced by GetActorParentRosName(), and GetOrCreateSensor().

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◆ GetInstance()

static std::shared_ptr<ROS2> carla::ros2::ROS2::GetInstance ( )

inlinestatic

Definition at line 51 of file ROS2.h.

Referenced by FCarlaServer::FPimpl::BindActions(), FCarlaEngine::NotifyInitGame(), UActorDispatcher::OnActorDestroyed(), ACollisionSensor::OnCollisionEvent(), AObstacleDetectionSensor::OnObstacleDetectionEvent(), AGnssSensor::PostPhysTick(), AInertialMeasurementUnit::PostPhysTick(), ARayCastLidar::PostPhysTick(), ARayCastSemanticLidar::PostPhysTick(), ARadar::PostPhysTick(), ADVSCamera::PostPhysTick(), UActorDispatcher::RegisterActor(), FCarlaEngine::ResetFrameCounter(), FPixelReader::SendPixelsInRenderThread(), UCarlaEpisode::TickTimers(), FCarlaEngine::UpdateFrameCounter(), and FCarlaEngine::~FCarlaEngine().

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◆ GetOrCreateSensor()

std::pair< std::shared_ptr< CarlaPublisher >, std::shared_ptr< CarlaTransformPublisher > > carla::ros2::ROS2::GetOrCreateSensor	(	int	type,
		carla::streaming::detail::stream_id_type	id,
		void *	actor
	)

private

Definition at line 187 of file ROS2.cpp.

References _publishers, _transforms, carla::ros2::CameraGBufferFloat, carla::ros2::CameraGBufferUint8, carla::ros2::CollisionSensor, carla::ros2::DepthCamera, carla::ros2::DVSCamera, GetActorParentRosName(), GetActorRosName(), carla::ros2::GnssSensor, carla::ros2::InertialMeasurementUnit, carla::ros2::InstanceSegmentationCamera, carla::ros2::LaneInvasionSensor, carla::ros2::NormalsCamera, carla::ros2::ObstacleDetectionSensor, carla::ros2::OpticalFlowCamera, carla::ros2::Radar, carla::ros2::RayCastLidar, carla::ros2::RayCastSemanticLidar, carla::ros2::RssSensor, carla::ros2::SceneCaptureCamera, carla::ros2::SemanticSegmentationCamera, UpdateActorRosName(), and carla::ros2::WorldObserver.

Referenced by ProcessDataFromCamera(), ProcessDataFromCollisionSensor(), ProcessDataFromDVS(), ProcessDataFromGNSS(), ProcessDataFromIMU(), ProcessDataFromLidar(), ProcessDataFromRadar(), and ProcessDataFromSemanticLidar().

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◆ IsEnabled()

bool carla::ros2::ROS2::IsEnabled ( )

inline

Definition at line 60 of file ROS2.h.

◆ IsStreamEnabled()

bool carla::ros2::ROS2::IsStreamEnabled ( carla::streaming::detail::stream_id_type id )

inline

Definition at line 78 of file ROS2.h.

◆ ProcessDataFromCamera()

void carla::ros2::ROS2::ProcessDataFromCamera	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		int	W,
		int	H,
		float	Fov,
		const carla::SharedBufferView	buffer,
		void *	actor = `nullptr`
	)

Definition at line 478 of file ROS2.cpp.

References _frame, _nanoseconds, _seconds, carla::ros2::CameraGBufferFloat, carla::ros2::CameraGBufferUint8, carla::ros2::CollisionSensor, carla::ros2::DepthCamera, GetOrCreateSensor(), carla::sensor::s11n::OpticalFlowImageSerializer::header_offset, carla::sensor::s11n::ImageSerializer::header_offset, carla::ros2::InstanceSegmentationCamera, carla::ros2::LaneInvasionSensor, carla::geom::Transform::location, carla::log_info(), carla::ros2::NormalsCamera, carla::ros2::OpticalFlowCamera, carla::geom::Transform::rotation, carla::ros2::RssSensor, carla::ros2::SceneCaptureCamera, carla::ros2::SemanticSegmentationCamera, carla::ros2::CarlaLineInvasionPublisher::SetData(), carla::ros2::CarlaTransformPublisher::SetData(), and carla::ros2::WorldObserver.

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◆ ProcessDataFromCollisionSensor()

void carla::ros2::ROS2::ProcessDataFromCollisionSensor	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		uint32_t	other_actor,
		carla::geom::Vector3D	impulse,
		void *	actor
	)

Definition at line 814 of file ROS2.cpp.

References _nanoseconds, _seconds, carla::ros2::CollisionSensor, GetOrCreateSensor(), carla::geom::Transform::location, carla::geom::Transform::rotation, carla::ros2::CarlaTransformPublisher::SetData(), carla::ros2::CarlaCollisionPublisher::SetData(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

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◆ ProcessDataFromDVS()

void carla::ros2::ROS2::ProcessDataFromDVS	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		const carla::SharedBufferView	buffer,
		int	W,
		int	H,
		float	Fov,
		void *	actor = `nullptr`
	)

Definition at line 705 of file ROS2.cpp.

References _frame, _nanoseconds, _seconds, carla::ros2::DVSCamera, GetOrCreateSensor(), carla::sensor::s11n::ImageSerializer::header_offset, carla::geom::Transform::location, carla::log_info(), carla::geom::Transform::rotation, and carla::ros2::CarlaTransformPublisher::SetData().

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◆ ProcessDataFromGNSS()

void carla::ros2::ROS2::ProcessDataFromGNSS	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		const carla::geom::GeoLocation &	data,
		void *	actor = `nullptr`
	)

Definition at line 663 of file ROS2.cpp.

References _frame, _nanoseconds, _seconds, carla::geom::GeoLocation::altitude, GetOrCreateSensor(), carla::ros2::GnssSensor, carla::geom::GeoLocation::latitude, carla::geom::Transform::location, carla::log_info(), carla::geom::GeoLocation::longitude, carla::geom::Transform::rotation, carla::ros2::CarlaGNSSPublisher::SetData(), and carla::ros2::CarlaTransformPublisher::SetData().

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◆ ProcessDataFromIMU()

void carla::ros2::ROS2::ProcessDataFromIMU	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		carla::geom::Vector3D	accelerometer,
		carla::geom::Vector3D	gyroscope,
		float	compass,
		void *	actor = `nullptr`
	)

Definition at line 683 of file ROS2.cpp.

References _frame, _nanoseconds, _seconds, GetOrCreateSensor(), carla::ros2::InertialMeasurementUnit, carla::geom::Transform::location, carla::log_info(), carla::geom::Transform::rotation, carla::ros2::CarlaIMUPublisher::SetData(), carla::ros2::CarlaTransformPublisher::SetData(), and carla::geom::Vector3D::x.

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◆ ProcessDataFromLidar()

void carla::ros2::ROS2::ProcessDataFromLidar	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		carla::sensor::data::LidarData &	data,
		void *	actor = `nullptr`
	)

Definition at line 735 of file ROS2.cpp.

References _frame, _nanoseconds, carla::sensor::data::LidarData::_points, _seconds, GetOrCreateSensor(), carla::geom::Transform::location, carla::log_info(), carla::ros2::RayCastLidar, carla::geom::Transform::rotation, and carla::ros2::CarlaTransformPublisher::SetData().

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◆ ProcessDataFromObstacleDetection()

void carla::ros2::ROS2::ProcessDataFromObstacleDetection	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		AActor *	first_actor,
		AActor *	second_actor,
		float	distance,
		void *	actor = `nullptr`
	)

Definition at line 803 of file ROS2.cpp.

References _frame, and carla::log_info().

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◆ ProcessDataFromRadar()

void carla::ros2::ROS2::ProcessDataFromRadar	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		const carla::sensor::data::RadarData &	data,
		void *	actor = `nullptr`
	)

Definition at line 780 of file ROS2.cpp.

References carla::sensor::data::RadarData::_detections, _frame, _nanoseconds, _seconds, carla::sensor::data::RadarData::GetDetectionCount(), GetOrCreateSensor(), carla::geom::Transform::location, carla::log_info(), carla::ros2::Radar, carla::geom::Transform::rotation, and carla::ros2::CarlaTransformPublisher::SetData().

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◆ ProcessDataFromSemanticLidar()

void carla::ros2::ROS2::ProcessDataFromSemanticLidar	(	uint64_t	sensor_type,
		carla::streaming::detail::stream_id_type	stream_id,
		const carla::geom::Transform	sensor_transform,
		carla::sensor::data::SemanticLidarData &	data,
		void *	actor = `nullptr`
	)

Definition at line 757 of file ROS2.cpp.

References _frame, _nanoseconds, _seconds, carla::sensor::data::SemanticLidarData::_ser_points, GetOrCreateSensor(), carla::geom::Transform::location, carla::log_info(), carla::ros2::RayCastSemanticLidar, carla::geom::Transform::rotation, and carla::ros2::CarlaTransformPublisher::SetData().

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◆ RemoveActorCallback()

void carla::ros2::ROS2::RemoveActorCallback ( void * actor )

Definition at line 182 of file ROS2.cpp.

References _actor_callbacks, and _controller.

Referenced by SetFrame().

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◆ RemoveActorRosName()

void carla::ros2::ROS2::RemoveActorRosName ( void * actor )

Definition at line 123 of file ROS2.cpp.

References _actor_parent_ros_name, _actor_ros_name, _publishers, and _transforms.

◆ ResetStreams()

void carla::ros2::ROS2::ResetStreams ( )

inline

Definition at line 79 of file ROS2.h.

◆ SetFrame()

void carla::ros2::ROS2::SetFrame ( uint64_t frame )

Definition at line 80 of file ROS2.cpp.

References _actor_callbacks, _controller, _frame, and RemoveActorCallback().

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◆ SetTimestamp()

void carla::ros2::ROS2::SetTimestamp ( double timestamp )

Definition at line 99 of file ROS2.cpp.

References _clock_publisher, _nanoseconds, and _seconds.

◆ Shutdown()

void carla::ros2::ROS2::Shutdown ( )

Definition at line 834 of file ROS2.cpp.

References _clock_publisher, _controller, _enabled, _publishers, and _transforms.

◆ UpdateActorRosName()

void carla::ros2::ROS2::UpdateActorRosName	(	void *	actor,
		std::string	ros_name
	)

Definition at line 131 of file ROS2.cpp.

References _actor_ros_name.

Referenced by GetOrCreateSensor().

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Member Data Documentation

◆ _actor_callbacks

std::unordered_map<void *, ActorCallback> carla::ros2::ROS2::_actor_callbacks

private

Definition at line 163 of file ROS2.h.

Referenced by AddActorCallback(), RemoveActorCallback(), and SetFrame().

◆ _actor_parent_ros_name

std::unordered_map<void *, std::vector<void*> > carla::ros2::ROS2::_actor_parent_ros_name

private

Definition at line 157 of file ROS2.h.

Referenced by AddActorParentRosName(), GetActorParentRosName(), and RemoveActorRosName().

◆ _actor_ros_name

std::unordered_map<void *, std::string> carla::ros2::ROS2::_actor_ros_name

private

Definition at line 156 of file ROS2.h.

Referenced by AddActorRosName(), GetActorRosName(), RemoveActorRosName(), and UpdateActorRosName().

◆ _clock_publisher

std::shared_ptr<CarlaClockPublisher> carla::ros2::ROS2::_clock_publisher

private

Definition at line 159 of file ROS2.h.

Referenced by Enable(), SetTimestamp(), and Shutdown().

◆ _controller

std::shared_ptr<CarlaEgoVehicleControlSubscriber> carla::ros2::ROS2::_controller

private

Definition at line 158 of file ROS2.h.

Referenced by AddActorCallback(), RemoveActorCallback(), SetFrame(), and Shutdown().

◆ _enabled

bool carla::ros2::ROS2::_enabled { false }

private

Definition at line 152 of file ROS2.h.

Referenced by Enable(), and Shutdown().

◆ _frame

uint64_t carla::ros2::ROS2::_frame { 0 }

private

Definition at line 153 of file ROS2.h.

Referenced by ProcessDataFromCamera(), ProcessDataFromDVS(), ProcessDataFromGNSS(), ProcessDataFromIMU(), ProcessDataFromLidar(), ProcessDataFromObstacleDetection(), ProcessDataFromRadar(), ProcessDataFromSemanticLidar(), and SetFrame().

◆ _instance

std::shared_ptr< ROS2 > carla::ros2::ROS2::_instance

staticprivate

Definition at line 148 of file ROS2.h.

◆ _nanoseconds

uint32_t carla::ros2::ROS2::_nanoseconds { 0 }

private

Definition at line 155 of file ROS2.h.

Referenced by ProcessDataFromCamera(), ProcessDataFromCollisionSensor(), ProcessDataFromDVS(), ProcessDataFromGNSS(), ProcessDataFromIMU(), ProcessDataFromLidar(), ProcessDataFromRadar(), ProcessDataFromSemanticLidar(), and SetTimestamp().

◆ _publish_stream

std::unordered_set<carla::streaming::detail::stream_id_type> carla::ros2::ROS2::_publish_stream

private

Definition at line 162 of file ROS2.h.

◆ _publishers

std::unordered_map<void *, std::shared_ptr<CarlaPublisher> > carla::ros2::ROS2::_publishers

private

Definition at line 160 of file ROS2.h.

Referenced by GetOrCreateSensor(), RemoveActorRosName(), and Shutdown().

◆ _seconds

int32_t carla::ros2::ROS2::_seconds { 0 }

private

Definition at line 154 of file ROS2.h.

Referenced by ProcessDataFromCamera(), ProcessDataFromCollisionSensor(), ProcessDataFromDVS(), ProcessDataFromGNSS(), ProcessDataFromIMU(), ProcessDataFromLidar(), ProcessDataFromRadar(), ProcessDataFromSemanticLidar(), and SetTimestamp().

◆ _transforms

std::unordered_map<void *, std::shared_ptr<CarlaTransformPublisher> > carla::ros2::ROS2::_transforms

private

Definition at line 161 of file ROS2.h.

Referenced by GetOrCreateSensor(), RemoveActorRosName(), and Shutdown().

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ROS2() [1/2]

◆ ROS2() [2/2]

Member Function Documentation

◆ AddActorCallback()

◆ AddActorParentRosName()

◆ AddActorRosName()

◆ Enable()

◆ EnableStream()

◆ GetActorParentRosName()

◆ GetActorRosName()

◆ GetInstance()

◆ GetOrCreateSensor()

◆ IsEnabled()

◆ IsStreamEnabled()

◆ ProcessDataFromCamera()

◆ ProcessDataFromCollisionSensor()

◆ ProcessDataFromDVS()

◆ ProcessDataFromGNSS()

◆ ProcessDataFromIMU()

◆ ProcessDataFromLidar()

◆ ProcessDataFromObstacleDetection()

◆ ProcessDataFromRadar()

◆ ProcessDataFromSemanticLidar()

◆ RemoveActorCallback()

◆ RemoveActorRosName()

◆ ResetStreams()

◆ SetFrame()

◆ SetTimestamp()

◆ Shutdown()

◆ UpdateActorRosName()

Member Data Documentation

◆ _actor_callbacks

◆ _actor_parent_ros_name

◆ _actor_ros_name

◆ _clock_publisher

◆ _controller

◆ _enabled

◆ _frame

◆ _instance

◆ _nanoseconds

◆ _publish_stream

◆ _publishers

◆ _seconds

◆ _transforms