Remove Rviz marker upon destroyed actor

Source/RapyutaSimulationPlugins/Private/Tools/RRROS2ActorsRvizMarkerPublisher.cpp

@@ -15,6 +15,20 @@ URRROS2ActorsRvizMarkerPublisher::URRROS2ActorsRvizMarkerPublisher()
     SetDefaultDelegates();    //use UpdateMessage as update delegate
 }
 
+void URRROS2ActorsRvizMarkerPublisher::AddTargetActor(AActor* InActor)
+{
+    if (false == Actors.Contains(InActor))
+    {
+        InActor->OnDestroyed.AddDynamic(this, &URRROS2ActorsRvizMarkerPublisher::OnTargetActorDestroyed);
+        Actors.Add(InActor);
+    }
+}
+
+void URRROS2ActorsRvizMarkerPublisher::OnTargetActorDestroyed(AActor* InActor)
+{
+    Actors.RemoveSwap(InActor);
+}
+
 void URRROS2ActorsRvizMarkerPublisher::UpdateMessage(UROS2GenericMsg* InMessage)
 {
     if (bUpdateActorsList)
@@ -26,6 +40,10 @@ void URRROS2ActorsRvizMarkerPublisher::UpdateMessage(UROS2GenericMsg* InMessage)
     BaseMarker.Header.Stamp = URRConversionUtils::FloatToROSStamp(UGameplayStatics::GetTimeSeconds(GetWorld()));
     for (AActor* actor : Actors)
     {
+        if (!IsValid(actor))
+        {
+            continue;
+        }
         FROSMarker marker = BaseMarker;
         FTransform tf =
             URRConversionUtils::TransformUEToROS(URRGeneralUtils::GetRelativeTransform(ReferenceActor, actor->GetTransform()));
@@ -35,5 +53,8 @@ void URRROS2ActorsRvizMarkerPublisher::UpdateMessage(UROS2GenericMsg* InMessage)
         msg.Markers.Add(marker);
     }
 
-    CastChecked<UROS2MarkerArrayMsg>(InMessage)->SetMsg(msg);
+    if (msg.Markers.Num() > 0)
+    {
+        CastChecked<UROS2MarkerArrayMsg>(InMessage)->SetMsg(msg);
+    }
 }

Source/RapyutaSimulationPlugins/Public/Core/RRROS2GameMode.h

@@ -108,6 +108,16 @@ class RAPYUTASIMULATIONPLUGINS_API ARRROS2GameMode : public AGameMode
         return NativeSpawnableClassPaths.FindRef(InEntityModelName);
     }
 
+    //! Blueprint class names (also used as their entity model names) to be registered as spawnable entity types
+    //! Eg: {"BP_TurtlebotBurger", "BP_TurtlebotBurgerVehicle"}
+    UPROPERTY(config)
+    TArray<FString> BPSpawnableClassNames;
+
+    //! Asset paths of classes to be registered as spawnable entity types
+    //! Eg: {{"TurtlebotBurger", "/Script/RapyutaSimulationPlugins.TurtlebotBurger"]}
+    UPROPERTY(config)
+    TMap<FString /*Entity model name*/, FString /*Class path*/> NativeSpawnableClassPaths;
+
 protected:
     /**
      * @brief Initialize Game.
@@ -131,16 +141,6 @@ class RAPYUTASIMULATIONPLUGINS_API ARRROS2GameMode : public AGameMode
      */
     virtual void StartPlay() override;
 
-    //! Blueprint class names (also used as their entity model names) to be registered as spawnable entity types
-    //! Eg: {"BP_TurtlebotBurger", "BP_TurtlebotBurgerVehicle"}
-    UPROPERTY(config)
-    TArray<FString> BPSpawnableClassNames;
-
-    //! Asset paths of classes to be registered as spawnable entity types
-    //! Eg: {{"TurtlebotBurger", "/Script/RapyutaSimulationPlugins.TurtlebotBurger"]}
-    UPROPERTY(config)
-    TMap<FString /*Entity model name*/, FString /*Class path*/> NativeSpawnableClassPaths;
-
 private:
     /**
      * @brief Create and initialize #MainROS2Node, #ClockPublisher and #MainSimState.

Source/RapyutaSimulationPlugins/Public/Tools/RRROS2ActorsRvizMarkerPublisher.h

@@ -56,5 +56,16 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2ActorsRvizMarkerPublisher : public URO
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     FROSMarker BaseMarker;
 
+    /**
+    * @brief Add a target actor to #Actors
+    */
+    void AddTargetActor(AActor* InActor);
+
+    /**
+    * @brief Callback upon a target actor in #Actors gets destroyed
+    */
+    UFUNCTION()
+    void OnTargetActorDestroyed(AActor* InActor);
+
     void UpdateMessage(UROS2GenericMsg* InMessage) override;
 };