MujocoRosUtils::ClockPublisher Class Reference

Plugin to publish clock topic. More...

#include <ClockPublisher.h>

Public Member Functions
	ClockPublisher (ClockPublisher &&)=default
	Copy constructor. More...
void	reset (const mjModel *m, int plugin_id)
	Reset. More...
void	compute (const mjModel *m, mjData *d, int plugin_id)
	Compute. More...

Static Public Member Functions
static void	RegisterPlugin ()
	Register plugin. More...
static ClockPublisher *	Create (const mjModel *m, mjData *d, int plugin_id)
	Create an instance. More...

Protected Member Functions
	ClockPublisher (const mjModel *m, mjData *d, const std::string &topic_name, mjtNum publish_rate, bool use_sim_time)
	Constructor. More...

Protected Attributes
rclcpp::Node::SharedPtr	nh_
	ROS node handle. More...
rclcpp::Publisher< rosgraph_msgs::msg::Clock >::SharedPtr	pub_
	ROS publisher for clock. More...
std::string	topic_name_
	Topic name of clock. More...
int	publish_skip_ = 0
	Iteration interval to skip ROS publish. More...
bool	use_sim_time_ = false
	Value of use_sim_time rosparam. More...
int	sim_cnt_ = 0
	Iteration count of simulation. More...

Detailed Description

Plugin to publish clock topic.

Definition at line 17 of file ClockPublisher.h.

Constructor & Destructor Documentation

ClockPublisher() [1/2]

MujocoRosUtils::ClockPublisher::ClockPublisher ( ClockPublisher &&  )

default

Copy constructor.

ClockPublisher() [2/2]

MujocoRosUtils::ClockPublisher::ClockPublisher ( const mjModel *  m, mjData *  d, const std::string &  topic_name, mjtNum  publish_rate, bool  use_sim_time  )

protected

Constructor.

Parameters

m	model
d	data
topic_name	topic name of clock
publish_rate	publish rate
use_sim_time	value of use_sim_time rosparam

Definition at line 116 of file ClockPublisher.cpp.

Member Function Documentation

compute()

void MujocoRosUtils::ClockPublisher::compute	(	const mjModel *	m,
		mjData *	d,
		int	plugin_id
	)

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 148 of file ClockPublisher.cpp.

Create()

ClockPublisher * MujocoRosUtils::ClockPublisher::Create ( const mjModel *  m, mjData *  d, int  plugin_id  )

static

Create an instance.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 69 of file ClockPublisher.cpp.

RegisterPlugin()

void MujocoRosUtils::ClockPublisher::RegisterPlugin ( )

static

Register plugin.

Definition at line 11 of file ClockPublisher.cpp.

reset()

void MujocoRosUtils::ClockPublisher::reset	(	const mjModel *	m,
		int	plugin_id
	)

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 142 of file ClockPublisher.cpp.

Member Data Documentation

nh_

rclcpp::Node::SharedPtr MujocoRosUtils::ClockPublisher::nh_

protected

ROS node handle.

Definition at line 59 of file ClockPublisher.h.

pub_

rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr MujocoRosUtils::ClockPublisher::pub_

protected

ROS publisher for clock.

Definition at line 62 of file ClockPublisher.h.

publish_skip_

int MujocoRosUtils::ClockPublisher::publish_skip_ = 0

protected

Iteration interval to skip ROS publish.

Definition at line 68 of file ClockPublisher.h.

sim_cnt_

int MujocoRosUtils::ClockPublisher::sim_cnt_ = 0

protected

Iteration count of simulation.

Definition at line 74 of file ClockPublisher.h.

topic_name_

std::string MujocoRosUtils::ClockPublisher::topic_name_

protected

Topic name of clock.

Definition at line 65 of file ClockPublisher.h.

use_sim_time_

bool MujocoRosUtils::ClockPublisher::use_sim_time_ = false

protected

Value of use_sim_time rosparam.

Definition at line 71 of file ClockPublisher.h.

---

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

• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ClockPublisher.h
• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ClockPublisher.cpp