Inheritance diagram for mujoco_ros2_control::MujocoSystemInterface:

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Collaboration diagram for mujoco_ros2_control::MujocoSystemInterface:

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Public Member Functions
	MujocoSystemInterface ()
	ros2_control SystemInterface to wrap Mujocos Simulate application.

hardware_interface::CallbackReturn	on_init (const hardware_interface::HardwareInfo &info) override
	Initialization of the hardware interface from data parsed from the robot's URDF.

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface.

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface.

hardware_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator.

hardware_interface::return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Write the current command values to the actuator.

const hardware_interface::HardwareInfo &	get_hardware_info () const

void	actuator_state_to_joint_state ()
	Converts actuator states to joint states.

void	joint_command_to_actuator_command ()
	Converts joint commands to actuator commands.

void	get_model (mjModel *&dest)
	Returns a copy of the MuJoCo model.

void	get_data (mjData *&dest)
	Returns a copy of the current MuJoCo data.

void	set_data (mjData *mj_data)
	Sets the MuJoCo data to the provided value.

Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted.

	SystemInterface (SystemInterface &&other)=default

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch.

virtual std::string	get_name () const
	Get name of the actuator hardware.

const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware.

void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware.

Protected Member Functions
rclcpp::Logger	get_logger () const

Additional Inherited Members
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Constructor & Destructor Documentation

◆ MujocoSystemInterface()

mujoco_ros2_control::MujocoSystemInterface::MujocoSystemInterface ( )

default

ros2_control SystemInterface to wrap Mujocos Simulate application.

Supports Actuators, Force Torque/IMU Sensors, and RGB-D camera, and Lidar Sensors in ROS 2 simulations. For more information on configuration refer to the docs, check the comment strings below, and refer to the example in the test folder.

Member Function Documentation

◆ actuator_state_to_joint_state()

void mujoco_ros2_control::MujocoSystemInterface::actuator_state_to_joint_state ( )

Converts actuator states to joint states.

This method reads the current states of the actuators in the MuJoCo simulation and updates the corresponding joint states in the ROS 2 control interface either through transmissions or directly.

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > mujoco_ros2_control::MujocoSystemInterface::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

The command interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of command interfaces

Implements hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > mujoco_ros2_control::MujocoSystemInterface::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Implements hardware_interface::SystemInterface.

◆ get_data()

void mujoco_ros2_control::MujocoSystemInterface::get_data ( mjData *& dest )

Returns a copy of the current MuJoCo data.

This method locks the simulation mutex to ensure thread safety.

Parameters

dest	Pointer to an mjData structure where the copy will be stored. The pointer will be allocated if it is nullptr.

◆ get_model()

void mujoco_ros2_control::MujocoSystemInterface::get_model ( mjModel *& dest )

Returns a copy of the MuJoCo model.

This method locks the simulation mutex to ensure thread safety.

Parameters

dest	Pointer to an mjModel structure where the copy will be stored. The pointer will be allocated if it is nullptr.

◆ joint_command_to_actuator_command()

void mujoco_ros2_control::MujocoSystemInterface::joint_command_to_actuator_command ( )

Converts joint commands to actuator commands.

This method takes the command inputs for the joints from the ROS 2 control interface and translates them into appropriate commands for the actuators in the MuJoCo simulation, considering any loaded transmissions or directly.

◆ on_init()

hardware_interface::CallbackReturn mujoco_ros2_control::MujocoSystemInterface::on_init ( const hardware_interface::HardwareInfo & hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in] hardware_info structure with data from URDF.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

The PIDs config file

Reimplemented from hardware_interface::SystemInterface.

◆ perform_command_mode_switch()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

overridevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::SystemInterface.

◆ read()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ set_data()

void mujoco_ros2_control::MujocoSystemInterface::set_data ( mjData * mj_data )

Sets the MuJoCo data to the provided value.

This method locks the simulation mutex to ensure thread safety.

Parameters

mj_data Pointer to an mjData structure containing the new data.

◆ write()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

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

mujoco_ros2_control/mujoco_ros2_control/include/mujoco_ros2_control/mujoco_system_interface.hpp
mujoco_ros2_control/mujoco_ros2_control/src/mujoco_system_interface.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ MujocoSystemInterface()

Member Function Documentation

◆ actuator_state_to_joint_state()

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ get_data()

◆ get_model()

◆ joint_command_to_actuator_command()

◆ on_init()

◆ perform_command_mode_switch()

◆ read()

◆ set_data()

◆ write()