mujoco_ros2_control::MujocoLidar Class Reference

Wraps MuJoCo rangefinder sensors for publishing ROS 2 LaserScan messages. More...

#include <mujoco_lidar.hpp>

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

Detailed Description

Wraps MuJoCo rangefinder sensors for publishing ROS 2 LaserScan messages.

Constructor & Destructor Documentation

MujocoLidar()

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

explicit

Constructs a new MujocoLidar wrapper object.

Parameters

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

Member Function Documentation

register_lidar()

bool mujoco_ros2_control::MujocoLidar::register_lidar

(

const hardware_interface::HardwareInfo &

hardware_info

)

Parses lidar information from the mujoco model.

Returns true if successful, false otherwise.

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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_lidar.hpp
• mujoco_ros2_control/mujoco_ros2_control/src/mujoco_lidar.cpp