ROS2::ROS2Requests Class Reference

#include <ROS2Bus.h>

Public Types
using	NodeChangedEvent = AZ::Event< std::shared_ptr< rclcpp::Node > >

Public Member Functions
	AZ_RTTI (ROS2Requests, "{a9bdbff6-e644-430d-8096-cdb53c88e8fc}")
virtual std::shared_ptr< rclcpp::Node >	GetNode () const =0
virtual void	ConnectOnNodeChanged (NodeChangedEvent::Handler &handler)=0
virtual builtin_interfaces::msg::Time	GetROSTimestamp () const =0
virtual void	BroadcastTransform (const geometry_msgs::msg::TransformStamped &t, bool isDynamic)=0
virtual const ROS2Clock &	GetSimulationClock () const =0

Detailed Description

Interface to the central ROS2SystemComponent. Use this API through ROS2Interface, for example:

auto node = ROS2Interface::Get()->GetNode();

Member Function Documentation

BroadcastTransform()

virtual void ROS2::ROS2Requests::BroadcastTransform ( const geometry_msgs::msg::TransformStamped &  t, bool  isDynamic  )

pure virtual

Send transformation between ROS2 frames.

Parameters

t	is a ROS2 TransformStamped message.
isDynamic	controls whether a static or dynamic transform is sent. Static transforms are published only once and are to be used when the spatial relationship between two frames does not change.

Note

Transforms are already published by each ROS2FrameComponent. Use this function directly only when default behavior of ROS2FrameComponent is not sufficient.

ConnectOnNodeChanged()

virtual void ROS2::ROS2Requests::ConnectOnNodeChanged ( NodeChangedEvent::Handler &  handler )

pure virtual

Attach handler to ROS2 node change events. You can use this method to correctly initialize SystemComponents that depend on ROS2Node.

Parameters

handler

which will be connected to NodeChangedEvent.

Note

callback is active as long as handler is not destroyed.

GetNode()

virtual std::shared_ptr<rclcpp::Node> ROS2::ROS2Requests::GetNode ( ) const

pure virtual

Get a central ROS2 node of the Gem. You can use this node to create publishers and subscribers.

Returns

The central ROS2 node which holds default publishers for core topics such as /clock and /tf.

Note

Alternatively, you can use your own node along with an executor.

GetROSTimestamp()

virtual builtin_interfaces::msg::Time ROS2::ROS2Requests::GetROSTimestamp ( ) const

pure virtual

Acquire current time as ROS2 timestamp. Timestamps provide temporal context for messages such as sensor data.

auto message = sensor_msgs::msg::PointCloud2();
message.header.stamp = ROS2Interface::Get()->GetROSTimestamp();

Returns

Simulation time in ROS2 format. Time source is also valid with non-real time settings.

Note

Make sure to set the use_sim_time parameter for ROS2 nodes which will use the simulation data.

GetSimulationClock()

virtual const ROS2Clock& ROS2::ROS2Requests::GetSimulationClock ( ) const

pure virtual

Obtains a simulation clock that is used across simulation.

Returns

constant reference to currently running clock.

---

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

• Gems/ROS2/Code/Include/ROS2/ROS2Bus.h