MujocoRosUtils::SensorPublisher Class Reference

Plugin to publish sensor data. More...

#include <SensorPublisher.h>

Public Types
enum	MessageType_ { MsgScalar = 0 , MsgPoint , MsgVector3 , MsgQuaternion }
	Type of ROS message. More...
typedef enum MujocoRosUtils::SensorPublisher::MessageType_	MessageType
	Type of ROS message. More...

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

Protected Member Functions
	SensorPublisher (const mjModel *m, mjData *d, int sensor_id, MessageType msg_type, const std::string &frame_id, const std::string &topic_name, mjtNum publish_rate)
	Constructor. More...

Protected Attributes
int	sensor_id_ = -1
	Sensor ID. More...
MessageType	msg_type_
	Type of ROS message. More...
std::string	frame_id_
	Frame ID of message header. More...
std::string	topic_name_
	Topic name. More...
rclcpp::Node::SharedPtr	nh_
	ROS node handle. More...
rclcpp::PublisherBase::SharedPtr	pub_
	ROS publisher. More...
int	publish_skip_ = 0
	Iteration interval to skip ROS publish. More...
int	sim_cnt_ = 0
	Iteration count of simulation. More...

Detailed Description

Plugin to publish sensor data.

Definition at line 20 of file SensorPublisher.h.

Member Typedef Documentation

MessageType

typedef enum MujocoRosUtils::SensorPublisher::MessageType_ MujocoRosUtils::SensorPublisher::MessageType

Type of ROS message.

Member Enumeration Documentation

MessageType_

enum MujocoRosUtils::SensorPublisher::MessageType_

Type of ROS message.

Enumerator
MsgScalar	Scalar.
MsgPoint	Point.
MsgVector3	3D vector
MsgQuaternion	Quaternion.

Definition at line 24 of file SensorPublisher.h.

Constructor & Destructor Documentation

SensorPublisher() [1/2]

MujocoRosUtils::SensorPublisher::SensorPublisher ( SensorPublisher &&  )

default

Copy constructor.

SensorPublisher() [2/2]

MujocoRosUtils::SensorPublisher::SensorPublisher ( const mjModel *  m, mjData *  d, int  sensor_id, MessageType  msg_type, const std::string &  frame_id, const std::string &  topic_name, mjtNum  publish_rate  )

protected

Constructor.

Parameters

m	model
d	data
sensor_id	sensor ID
msg_type	type of ROS message
frame_id	frame ID of message header
topic_name	topic name
publish_rate	publish rate

Definition at line 154 of file SensorPublisher.cpp.

Member Function Documentation

compute()

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

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 207 of file SensorPublisher.cpp.

Create()

SensorPublisher * MujocoRosUtils::SensorPublisher::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 SensorPublisher.cpp.

RegisterPlugin()

void MujocoRosUtils::SensorPublisher::RegisterPlugin ( )

static

Register plugin.

Definition at line 10 of file SensorPublisher.cpp.

reset()

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

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 201 of file SensorPublisher.cpp.

Member Data Documentation

frame_id_

std::string MujocoRosUtils::SensorPublisher::frame_id_

protected

Frame ID of message header.

Definition at line 93 of file SensorPublisher.h.

msg_type_

MessageType MujocoRosUtils::SensorPublisher::msg_type_

protected

Type of ROS message.

Definition at line 90 of file SensorPublisher.h.

nh_

rclcpp::Node::SharedPtr MujocoRosUtils::SensorPublisher::nh_

protected

ROS node handle.

Definition at line 99 of file SensorPublisher.h.

pub_

rclcpp::PublisherBase::SharedPtr MujocoRosUtils::SensorPublisher::pub_

protected

ROS publisher.

Definition at line 102 of file SensorPublisher.h.

publish_skip_

int MujocoRosUtils::SensorPublisher::publish_skip_ = 0

protected

Iteration interval to skip ROS publish.

Definition at line 105 of file SensorPublisher.h.

sensor_id_

int MujocoRosUtils::SensorPublisher::sensor_id_ = -1

protected

Sensor ID.

Definition at line 87 of file SensorPublisher.h.

sim_cnt_

int MujocoRosUtils::SensorPublisher::sim_cnt_ = 0

protected

Iteration count of simulation.

Definition at line 108 of file SensorPublisher.h.

topic_name_

std::string MujocoRosUtils::SensorPublisher::topic_name_

protected

Topic name.

Definition at line 96 of file SensorPublisher.h.

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

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