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

#include <mujoco_cameras.hpp>

Public Types
using	GlfwInitFn = std::function< int()>

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 (GlfwInitFn glfw_init_fn=glfwInit)
	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.

Member Typedef Documentation

◆ GlfwInitFn

using mujoco_ros2_control::MujocoCameras::GlfwInitFn = std::function<int()>

Signature of the GLFW initializer; injectable for testing.

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 ( GlfwInitFn glfw_init_fn = glfwInit )

Starts the image processing thread in the background.

Does nothing when no cameras have been registered. The background thread will initialize its own offscreen GLFW context for rendering images that is separate from the Simulate application, as the context must be created in the running thread.

Parameters

glfw_init_fn Callable used to initialize GLFW; defaults to ::glfwInit. Override in tests to simulate a display-capable environment without a real GPU.

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

Public Types