mujoco_ros2_control::MujocoCameras Class Reference

Wraps MuJoCo cameras for publishing ROS 2 RGB-D streams. More...

#include <mujoco_cameras.hpp>

Public Member Functions
	MujocoCameras (rclcpp::Node::SharedPtr node, std::recursive_mutex *sim_mutex, mjData *mujoco_data, mjModel *mujoco_model, double camera_publish_rate)
	Constructs a new MujocoCameras wrapper object.
void	init ()
	Starts the image processing thread in the background.
void	close ()
	Stops the camera processing thread and closes the relevant objects, call before shutdown.
void	register_cameras (const hardware_interface::HardwareInfo &hardware_info)
	Parses camera information from the mujoco model.

Detailed Description

Wraps MuJoCo cameras for publishing ROS 2 RGB-D streams.

Constructor & Destructor Documentation

MujocoCameras()

mujoco_ros2_control::MujocoCameras::MujocoCameras ( rclcpp::Node::SharedPtr  node, std::recursive_mutex *  sim_mutex, mjData *  mujoco_data, mjModel *  mujoco_model, double  camera_publish_rate  )

explicit

Constructs a new MujocoCameras wrapper object.

Parameters

node	Will be used to construct image publishers
sim_mutex	Provides synchronized access to the mujoco_data object for rendering
mujoco_data	MuJoCo data for the simulation
mujoco_model	MuJoCo model for the simulation
camera_publish_rate	The rate to publish all camera images, for now all images are published at the same rate.

Member Function Documentation

init()

void mujoco_ros2_control::MujocoCameras::init

(

)

Starts the image processing thread in the background.

The background thread will initialize its own offscreen glfw context for rendering images that is separate from the Simulate applications, as the context must be in the running thread.

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

• mujoco_ros2_control/mujoco_ros2_control/include/mujoco_ros2_control/mujoco_cameras.hpp
• mujoco_ros2_control/mujoco_ros2_control/src/mujoco_cameras.cpp