Plugin to publish topics of color and depth images. More...

#include <ImagePublisher.h>

Public Member Functions
	ImagePublisher (ImagePublisher &&)=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...

void	free ()
	Free buffer. More...

Static Public Member Functions
static void	RegisterPlugin ()
	Register plugin. More...

static ImagePublisher *	Create (const mjModel m, mjData d, int plugin_id)
	Create an instance. More...

Protected Member Functions
	ImagePublisher (const mjModel m, mjData d, int sensor_id, const std::string &frame_id, std::string color_topic_name, std::string depth_topic_name, std::string info_topic_name, int height, int width, mjtNum publish_rate)
	Constructor. More...

Protected Attributes
int	sensor_id_ = -1
	Sensor ID. More...

int	camera_id_ = -1
	Camera ID. More...

std::string	frame_id_
	Frame ID of topics header or TF parent. More...

int	publish_skip_ = 0
	Iteration interval to skip ROS publish. More...

int	sim_cnt_ = 0
	Iteration count of simulation. More...


unsigned char *	color_buffer_

float *	depth_buffer_

unsigned char *	color_buffer_flipped_

float *	depth_buffer_flipped_


mjvScene	scene_

mjvCamera	camera_

mjvOption	option_

mjrContext	context_

mjrRect	viewport_

GLFWwindow *	window_


rclcpp::Node::SharedPtr	nh_

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	color_pub_

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	depth_pub_

rclcpp::Publisher< sensor_msgs::msg::CameraInfo >::SharedPtr	info_pub_

Detailed Description

Plugin to publish topics of color and depth images.

Definition at line 20 of file ImagePublisher.h.

Constructor & Destructor Documentation

◆ ImagePublisher() [1/2]

MujocoRosUtils::ImagePublisher::ImagePublisher ( ImagePublisher && )

default

Copy constructor.

◆ ImagePublisher() [2/2]

MujocoRosUtils::ImagePublisher::ImagePublisher	(	const mjModel *	m,
		mjData *	d,
		int	sensor_id,
		const std::string &	frame_id,
		std::string	color_topic_name,
		std::string	depth_topic_name,
		std::string	info_topic_name,
		int	height,
		int	width,
		mjtNum	publish_rate
	)

protected

Constructor.

Parameters

m	model
d	data
sensor_id	sensor ID
frame_id	frame ID of topics header or TF parent
color_topic_name	topic name of color image
depth_topic_name	topic name of depth image
info_topic_name	topic name of camera information
height	image height
width	image width
publish_rate	publish rate

Definition at line 170 of file ImagePublisher.cpp.

Member Function Documentation

◆ compute()

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

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 269 of file ImagePublisher.cpp.

◆ Create()

ImagePublisher * MujocoRosUtils::ImagePublisher::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 71 of file ImagePublisher.cpp.

◆ free()

void MujocoRosUtils::ImagePublisher::free ( )

Free buffer.

Definition at line 360 of file ImagePublisher.cpp.

◆ RegisterPlugin()

MujocoRosUtils::ImagePublisher::RegisterPlugin ( )

static

Register plugin.

Definition at line 10 of file ImagePublisher.cpp.

◆ reset()

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

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 263 of file ImagePublisher.cpp.

Member Data Documentation

◆ camera_

mjvCamera MujocoRosUtils::ImagePublisher::camera_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 104 of file ImagePublisher.h.

◆ camera_id_

int MujocoRosUtils::ImagePublisher::camera_id_ = -1

protected

Camera ID.

Definition at line 82 of file ImagePublisher.h.

◆ color_buffer_

unsigned char* MujocoRosUtils::ImagePublisher::color_buffer_

protected

Data buffer

Definition at line 95 of file ImagePublisher.h.

◆ color_buffer_flipped_

unsigned char* MujocoRosUtils::ImagePublisher::color_buffer_flipped_

protected

Data buffer

Definition at line 97 of file ImagePublisher.h.

◆ color_pub_

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr MujocoRosUtils::ImagePublisher::color_pub_

protected

ROS variables

Definition at line 114 of file ImagePublisher.h.

◆ context_

mjrContext MujocoRosUtils::ImagePublisher::context_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 106 of file ImagePublisher.h.

◆ depth_buffer_

float* MujocoRosUtils::ImagePublisher::depth_buffer_

protected

Data buffer

Definition at line 96 of file ImagePublisher.h.

◆ depth_buffer_flipped_

float* MujocoRosUtils::ImagePublisher::depth_buffer_flipped_

protected

Data buffer

Definition at line 98 of file ImagePublisher.h.

◆ depth_pub_

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr MujocoRosUtils::ImagePublisher::depth_pub_

protected

ROS variables

Definition at line 115 of file ImagePublisher.h.

◆ frame_id_

std::string MujocoRosUtils::ImagePublisher::frame_id_

protected

Frame ID of topics header or TF parent.

Definition at line 85 of file ImagePublisher.h.

◆ info_pub_

rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr MujocoRosUtils::ImagePublisher::info_pub_

protected

ROS variables

Definition at line 116 of file ImagePublisher.h.

◆ nh_

rclcpp::Node::SharedPtr MujocoRosUtils::ImagePublisher::nh_

protected

ROS variables

Definition at line 113 of file ImagePublisher.h.

◆ option_

mjvOption MujocoRosUtils::ImagePublisher::option_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 105 of file ImagePublisher.h.

◆ publish_skip_

int MujocoRosUtils::ImagePublisher::publish_skip_ = 0

protected

Iteration interval to skip ROS publish.

Definition at line 88 of file ImagePublisher.h.

◆ scene_

mjvScene MujocoRosUtils::ImagePublisher::scene_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 103 of file ImagePublisher.h.

◆ sensor_id_

int MujocoRosUtils::ImagePublisher::sensor_id_ = -1

protected

Sensor ID.

Definition at line 79 of file ImagePublisher.h.

◆ sim_cnt_

int MujocoRosUtils::ImagePublisher::sim_cnt_ = 0

protected

Iteration count of simulation.

Definition at line 91 of file ImagePublisher.h.

◆ viewport_

mjrRect MujocoRosUtils::ImagePublisher::viewport_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 107 of file ImagePublisher.h.

◆ window_

GLFWwindow* MujocoRosUtils::ImagePublisher::window_

protected

Variables for visualization and rendering in MuJoCo

Definition at line 108 of file ImagePublisher.h.

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

/home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ImagePublisher.h
/home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ImagePublisher.cpp
/home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/Plugin.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImagePublisher() [1/2]

◆ ImagePublisher() [2/2]

Member Function Documentation

◆ compute()

◆ Create()

◆ free()

◆ RegisterPlugin()

◆ reset()

Member Data Documentation

◆ camera_

◆ camera_id_

◆ color_buffer_

◆ color_buffer_flipped_

◆ color_pub_

◆ context_

◆ depth_buffer_

◆ depth_buffer_flipped_

◆ depth_pub_

◆ frame_id_

◆ info_pub_

◆ nh_

◆ option_

◆ publish_skip_

◆ scene_

◆ sensor_id_

◆ sim_cnt_

◆ viewport_

◆ window_