Plugin to publish topics or broadcast TF of pose and velocity of the body. More...

#include <PosePublisher.h>

Public Member Functions
	PosePublisher (PosePublisher &&)=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 PosePublisher *	Create (const mjModel m, mjData d, int plugin_id)
	Create an instance. More...

Protected Member Functions
	PosePublisher (const mjModel m, mjData d, int sensor_id, const std::string &frame_id, const std::string &pose_topic_name, const std::string &vel_topic_name, mjtNum publish_rate, bool output_tf, const std::string &tf_child_frame_id)
	Constructor. More...

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

int	body_id_ = -1
	Body ID. More...

std::shared_ptr< ros::NodeHandle >	nh_
	ROS node handle. More...

ros::Publisher	pose_pub_
	ROS publisher for pose. More...

ros::Publisher	vel_pub_
	ROS publisher for velocity. More...

std::shared_ptr< tf2_ros::TransformBroadcaster >	tf_br_
	TF broadcaster. More...

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

std::string	pose_topic_name_
	Topic name of pose. More...

std::string	vel_topic_name_
	Topic name of velocity. More...

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

bool	output_tf_ = false
	Whether to broadcast TF. More...

std::string	tf_child_frame_id_
	Child frame ID for TF. More...

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

Detailed Description

Plugin to publish topics or broadcast TF of pose and velocity of the body.

Definition at line 17 of file PosePublisher.h.

Constructor & Destructor Documentation

◆ PosePublisher() [1/2]

MujocoRosUtils::PosePublisher::PosePublisher ( PosePublisher && )

default

Copy constructor.

◆ PosePublisher() [2/2]

MujocoRosUtils::PosePublisher::PosePublisher	(	const mjModel *	m,
		mjData *	d,
		int	sensor_id,
		const std::string &	frame_id,
		const std::string &	pose_topic_name,
		const std::string &	vel_topic_name,
		mjtNum	publish_rate,
		bool	output_tf,
		const std::string &	tf_child_frame_id
	)

protected

Constructor.

Parameters

m	model
d	data
sensor_id	sensor ID
frame_id	frame ID of topics header or TF parent
pose_topic_name	topic name of pose
vel_topic_name	topic name of velocity
publish_rate	publish rate
output_tf	whether to broadcast TF
tf_child_frame_id	child frame ID for TF

Definition at line 159 of file PosePublisher.cpp.

Member Function Documentation

◆ compute()

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

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 215 of file PosePublisher.cpp.

◆ Create()

PosePublisher * MujocoRosUtils::PosePublisher::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 73 of file PosePublisher.cpp.

◆ RegisterPlugin()

void MujocoRosUtils::PosePublisher::RegisterPlugin ( )

static

Register plugin.

Definition at line 14 of file PosePublisher.cpp.

◆ reset()

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

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 209 of file PosePublisher.cpp.

Member Data Documentation

◆ body_id_

int MujocoRosUtils::PosePublisher::body_id_ = -1

protected

Body ID.

Definition at line 74 of file PosePublisher.h.

◆ frame_id_

std::string MujocoRosUtils::PosePublisher::frame_id_

protected

Frame ID of topics header or TF parent.

Definition at line 89 of file PosePublisher.h.

◆ nh_

std::shared_ptr<ros::NodeHandle> MujocoRosUtils::PosePublisher::nh_

protected

ROS node handle.

Definition at line 77 of file PosePublisher.h.

◆ output_tf_

bool MujocoRosUtils::PosePublisher::output_tf_ = false

protected

Whether to broadcast TF.

Definition at line 101 of file PosePublisher.h.

◆ pose_pub_

ros::Publisher MujocoRosUtils::PosePublisher::pose_pub_

protected

ROS publisher for pose.

Definition at line 80 of file PosePublisher.h.

◆ pose_topic_name_

std::string MujocoRosUtils::PosePublisher::pose_topic_name_

protected

Topic name of pose.

Definition at line 92 of file PosePublisher.h.

◆ publish_skip_

int MujocoRosUtils::PosePublisher::publish_skip_ = 0

protected

Iteration interval to skip ROS publish.

Definition at line 98 of file PosePublisher.h.

◆ sensor_id_

int MujocoRosUtils::PosePublisher::sensor_id_ = -1

protected

Sensor ID.

Definition at line 71 of file PosePublisher.h.

◆ sim_cnt_

int MujocoRosUtils::PosePublisher::sim_cnt_ = 0

protected

Iteration count of simulation.

Definition at line 107 of file PosePublisher.h.

◆ tf_br_

std::shared_ptr<tf2_ros::TransformBroadcaster> MujocoRosUtils::PosePublisher::tf_br_

protected

TF broadcaster.

Definition at line 86 of file PosePublisher.h.

◆ tf_child_frame_id_

std::string MujocoRosUtils::PosePublisher::tf_child_frame_id_

protected

Child frame ID for TF.

Definition at line 104 of file PosePublisher.h.

◆ vel_pub_

ros::Publisher MujocoRosUtils::PosePublisher::vel_pub_

protected

ROS publisher for velocity.

Definition at line 83 of file PosePublisher.h.

◆ vel_topic_name_

std::string MujocoRosUtils::PosePublisher::vel_topic_name_

protected

Topic name of velocity.

Definition at line 95 of file PosePublisher.h.

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

/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/PosePublisher.h
/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/Plugin.cpp
/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/PosePublisher.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PosePublisher() [1/2]

◆ PosePublisher() [2/2]

Member Function Documentation

◆ compute()

◆ Create()

◆ RegisterPlugin()

◆ reset()

Member Data Documentation

◆ body_id_

◆ frame_id_

◆ nh_

◆ output_tf_

◆ pose_pub_

◆ pose_topic_name_

◆ publish_skip_

◆ sensor_id_

◆ sim_cnt_

◆ tf_br_

◆ tf_child_frame_id_

◆ vel_pub_

◆ vel_topic_name_