Movement Components refactor by praphulkallakuri · Pull Request #19 · rapyuta-robotics/RapyutaSimulationPlugins

praphulkallakuri · 2021-10-26T06:02:21Z

Refactored code in

Turtlebot: Added DifferentialDriveComponent in TB class
RobotVehicle: Added class URobotVehicleMovementComponent making it base class

Thanks to @Tadinu for help !!

yuokamoto · 2021-10-26T07:17:54Z


 #pragma once
-
+#include <random>


Do we need this?

yuokamoto · 2021-10-26T07:18:55Z

 	ATurtlebotBurger(const FObjectInitializer& ObjectInitializer);

+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	UDifferentialDriveComponent* DifferentialDriveComponent = nullptr;


can't we use robotMoveComponent in base class?

Tadinu · 2021-10-27T03:07:29Z

@praphulkallakuri I could see this PR is initiated with a couple of commits related to Lidar balancing and it looks like overlapping with #18.

Tadinu · 2021-11-02T08:35:37Z


    FVector position = UpdatedComponent->ComponentVelocity * DeltaTime;
-    FQuat DeltaRotation(FVector::ZAxisVector, AngularVelocity.Z * DeltaTime);
+    FQuat DeltaRotation(FVector::ZAxisVector, InversionFactor * AngularVelocity.Z * DeltaTime);


@yuokamoto not sure why AMRVehicle moves in a different style from TurtleBotBurger tho?
@praphulkallakuri And thus, based on the rationale, we might need a more specific name for InversionFactor I suppose.

yuokamoto · 2021-11-05T08:39:07Z

some resolved comment is not resolved yet. please double check.

yuokamoto · 2021-11-05T08:31:32Z

+    UPROPERTY(VisibleAnywhere)
+    bool IsInitialized = false;
+
+protected:


whyd did you separated protected?

yuokamoto · 2021-11-05T08:46:31Z

I got following error when play the turtlebot3-UE. Did yout test with turtlebot3 as well?

Caught signal 11 Segmentation fault

libUE4Editor-RapyutaSimulationPlugins.so!ATurtlebotBurger::BeginPlay() [/home/yu/turtlebot3-UE/Plugins/RapyutaSimulationPlugins/Source/RapyutaSimulationPlugins/Private/Robots/Turtlebot3/TurtlebotBurger.cpp:145]
libUE4Editor-Engine.so!AActor::DispatchBeginPlay(bool) [/home/yu/UnrealEngine/Engine/Source/Runtime/Engine/Private/Actor.cpp:3517]
libUE4Editor-Engine.so!AWorldSettings::NotifyBeginPlay() [/home/yu/UnrealEngine/Engine/Source/Runtime/Engine/Private/WorldSettings.cpp:247]
libUE4Editor-Engine.so!AGameStateBase::HandleBeginPlay() [/home/yu/UnrealEngine/Engine/Source/Runtime/Engine/Private/GameStateBase.cpp:204]
libUE4Editor-Engine.so!UWorld::BeginPlay() [/home/yu/UnrealEngine/Engine/Source/Runtime/Engine/Private/World.cpp:4415]
libUE4Editor-Engine.so!UGameInstance::StartPlayInEditorGameInstance(ULocalPlayer*, FGameInstancePIEParameters const&) [/home/yu/UnrealEngine/Engine/Source/Runtime/Engine/Private/GameInstance.cpp:483]
libUE4Editor-UnrealEd.so!UEditorEngine::CreateInnerProcessPIEGameInstance(FRequestPlaySessionParams&, FGameInstancePIEParameters const&, int) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:2943]
libUE4Editor-UnrealEd.so!UEditorEngine::OnLoginPIEComplete_Deferred(int, bool, FString, FPieLoginStruct) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:1502]
libUE4Editor-UnrealEd.so!UEditorEngine::CreateNewPlayInEditorInstance(FRequestPlaySessionParams&, bool, EPlayNetMode) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:1746]
libUE4Editor-UnrealEd.so!UEditorEngine::StartPlayInEditorSession(FRequestPlaySessionParams&) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:2709]
libUE4Editor-UnrealEd.so!UEditorEngine::StartQueuedPlaySessionRequestImpl() [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:1103]
libUE4Editor-UnrealEd.so!UEditorEngine::StartQueuedPlaySessionRequest() [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/PlayLevel.cpp:1015]
libUE4Editor-UnrealEd.so!UEditorEngine::Tick(float, bool) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/EditorEngine.cpp:1628]
libUE4Editor-UnrealEd.so!UUnrealEdEngine::Tick(float, bool) [/home/yu/UnrealEngine/Engine/Source/Editor/UnrealEd/Private/UnrealEdEngine.cpp:423]
UE4Editor!FEngineLoop::Tick() [/home/yu/UnrealEngine/Engine/Source/Runtime/Launch/Private/LaunchEngineLoop.cpp:4916]
UE4Editor!GuardedMain(char16_t const*) [/home/yu/UnrealEngine/Engine/Source/Runtime/Launch/Private/Launch.cpp:180]
libUE4Editor-UnixCommonStartup.so!CommonUnixMain(int, char**, int (*)(char16_t const*), void (*)()) [/home/yu/UnrealEngine/Engine/Source/Runtime/Unix/UnixCommonStartup/Private/UnixCommonStartup.cpp:264]
libc.so.6!__libc_start_main(+0xf2)

UE4Editor!_start()

Tadinu · 2021-11-05T09:35:55Z

    InitialTransform.SetRotation(FQuat(PawnOwner->GetActorRotation()));

-    PreviousTransform = FTransform(FQuat(0,0,0,1), FVector(0,0,0), FVector(1,1,1));
+    PreviousTransform = FTransform(FQuat::Identity, FVector::ZeroVector, FVector::OneVector);


Sorry, I looked too quickly, this could be actually FTransform::Identity

Tadinu · 2021-11-05T09:40:53Z

+void ATurtlebotBurger::InitializeMoveComponent() 
+{
+    DifferentialDriveComponent = NewObject<UDifferentialDriveComponent>(this, TEXT("DifferentialDriveComponent"));


@praphul Kallakuri For the crash that Yu might have just noted, though ATurtlebotBurger seems to be not using RobotVehicleMoveComponent, you could call Super::InitializeMoveComponent() here to initialize it, since in our parent class ARobotVehicle it is currently hooked up to be initialized.

Suggested change

void ATurtlebotBurger::InitializeMoveComponent()

{

DifferentialDriveComponent = NewObject<UDifferentialDriveComponent>(this, TEXT("DifferentialDriveComponent"));

void ATurtlebotBurger::InitializeMoveComponent()

{

Super::InitializeMoveComponent();

DifferentialDriveComponent = NewObject<UDifferentialDriveComponent>(this, TEXT("DifferentialDriveComponent"));

…Vehicle class

…minor formatting

Call Super::, which initializes RobotVehicleMoveComponent [ATurtlebotBurger] definition: cleaning up

Tadinu · 2021-12-13T06:42:09Z

A rebase over main branch

* Move components duplication refactored for RobotVehicle class and AMRVehicle class * Add StatePublisher class * Add InversionFactor variable in RobotVehicleMovementComponent Co-authored-by: duc <ducanh.than@rapyuta-robotics.com>

praphulkallakuri requested review from Tadinu and yuokamoto October 26, 2021 06:02

yuokamoto reviewed Oct 26, 2021

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Tadinu changed the title ~~Pk refactor~~ Movement Components refactor Oct 26, 2021

Tadinu changed the title ~~Movement Components refactor~~ Lidar load balancing + Movement Components refactor Oct 26, 2021

Tadinu reviewed Oct 26, 2021

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Comment thread Source/RapyutaSimulationPlugins/Public/Drives/RobotVehicleMovementComponent.h Outdated

praphulkallakuri closed this Oct 27, 2021

praphulkallakuri force-pushed the pk_refactor branch from dadc596 to 71a1955 Compare October 27, 2021 03:46

praphulkallakuri changed the title ~~Lidar load balancing + Movement Components refactor~~ Movement Components refactor Oct 27, 2021

praphulkallakuri reopened this Oct 27, 2021

praphulkallakuri requested review from Tadinu and yuokamoto October 27, 2021 06:40

Tadinu reviewed Nov 2, 2021

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Comment thread Source/RapyutaSimulationPlugins/Private/Drives/RobotVehicleMovementComponent.cpp Outdated

Tadinu reviewed Nov 2, 2021

View reviewed changes

Comment thread Source/RapyutaSimulationPlugins/Private/Drives/RobotVehicleMovementComponent.cpp Outdated

Tadinu reviewed Nov 2, 2021

View reviewed changes

praphulkallakuri requested a review from Tadinu November 4, 2021 05:05

yuokamoto reviewed Nov 5, 2021

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Tadinu reviewed Nov 5, 2021

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praphulkallakuri and others added 8 commits December 13, 2021 15:40

Move components duplication refactored for RobotVehicle class and AMR…

2530d90

…Vehicle class

Clang formatted code

2b1cae5

Individual entity moved from io_amr_UE

10feaae

deleted files

c7df2d7

Moved StatePublisher class with minor changes

894de72

Add InversionFactor variable in RobotVehicleMovementComponent class, …

685fed7

…minor formatting

Updated with Identity,ZeroVector and OneVector functions

d1bc7c8

[ATurtlebotBurger::InitializeMoveComponent()]

3c354ab

Call Super::, which initializes RobotVehicleMoveComponent [ATurtlebotBurger] definition: cleaning up

Tadinu force-pushed the pk_refactor branch from ceae30c to 3c354ab Compare December 13, 2021 06:41

[RobotVehicle] Cleaning up

717d728

yuokamoto approved these changes Dec 13, 2021

View reviewed changes

Tadinu merged commit 0dfef1d into main Dec 13, 2021

Tadinu deleted the pk_refactor branch December 13, 2021 08:35

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Movement Components refactor - #19

Movement Components refactor#19
Tadinu merged 9 commits into
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pk_refactor

praphulkallakuri commented Oct 26, 2021 •

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Tadinu commented Oct 27, 2021

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yuokamoto commented Nov 5, 2021 •

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Tadinu commented Oct 27, 2021

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praphulkallakuri commented Oct 26, 2021 •

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