ClockPublisher.h

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#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rosgraph_msgs/msg/clock.hpp>
 
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
 
#include <string>
 
namespace MujocoRosUtils
{
 
class ClockPublisher
{
public:
  static void RegisterPlugin();
 
  static ClockPublisher * Create(const mjModel * m, mjData * d, int plugin_id);
 
public:
  ClockPublisher(ClockPublisher &&) = default;
 
  void reset(const mjModel * m, int plugin_id);
 
  void compute(const mjModel * m, mjData * d, int plugin_id);
 
protected:
  ClockPublisher(const mjModel * m, mjData * d, const std::string & topic_name, mjtNum publish_rate, bool use_sim_time);
 
protected:
  rclcpp::Node::SharedPtr nh_;
 
  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr pub_;
 
  std::string topic_name_;
 
  int publish_skip_ = 0;
 
  bool use_sim_time_ = false;
 
  int sim_cnt_ = 0;
};
 
} // namespace MujocoRosUtils