external_plugin_test::TestPlugin Class Reference

Inheritance diagram for external_plugin_test::TestPlugin:

Collaboration diagram for external_plugin_test::TestPlugin:

Public Member Functions
bool	init (rclcpp::Node::SharedPtr node, const mjModel *, mjData *) override
	Initialize the plugin.
void	update_write (const mjModel *, mjData *) override
	Called once per write() cycle, on the control thread, after the hardware interface has staged the controller commands and right before they are sent to the simulation.
void	update_read (const mjModel *, mjData *data) override
	Called once per read() cycle, on the control thread, before the state is handed to ros2_control. Default does nothing.
void	on_reset (mjData *) override
	Called after a world reset (ResetWorld service or UI reset). Default does nothing.
void	cleanup () override
	Cleanup the plugin.
Public Member Functions inherited from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase
virtual void	update (const mjModel *, mjData *)
	Same as update_write(). Default does nothing.
virtual void	pre_step (mjData *)
	Called immediately before every simulation step on the physics thread. Default does nothing.

Static Public Attributes
static constexpr double	kReadOverride = 42.0

Member Function Documentation

cleanup()

void external_plugin_test::TestPlugin::cleanup ( )

inlineoverridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init()

bool external_plugin_test::TestPlugin::init ( rclcpp::Node::SharedPtr  node, const mjModel *  model, mjData *  data  )

inlineoverridevirtual

Initialize the plugin.

Parameters

node	Shared pointer to the ROS 2 node for accessing parameters
model	Pointer to the MuJoCo model
data	Pointer to the MuJoCo data

Returns

true if initialization was successful

Note

This method will be called once when the plugin is loaded. It can be used to read parameters, set up publishers/subscribers, etc. The node will be a child of the main mujoco_ros2_control node, so parameters should be namespaced accordingly.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

on_reset()

void external_plugin_test::TestPlugin::on_reset ( mjData *  )

inlineoverridevirtual

Called after a world reset (ResetWorld service or UI reset). Default does nothing.

Parameters

data	Pointer to the live MuJoCo data in its post-reset state.

Reimplemented from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

update_read()

void external_plugin_test::TestPlugin::update_read ( const mjModel *  , mjData *    )

inlineoverridevirtual

Called once per read() cycle, on the control thread, before the state is handed to ros2_control. Default does nothing.

Only the control state fields of data are valid (time, qpos, qvel, act, qfrc_actuator, sensordata, ctrl), all from the same physics step. Derived quantities (e.g. site_xpos) are stale: call mj_kinematics() or similar on data if needed. Changes to the control state fields are what ros2_control reads.

Parameters

model	Pointer to the MuJoCo model
data	Scratch data holding the latest control state, modify it in place

Reimplemented from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

update_write()

void external_plugin_test::TestPlugin::update_write ( const mjModel *  model, mjData *  data  )

inlineoverridevirtual

Called once per write() cycle, on the control thread, after the hardware interface has staged the controller commands and right before they are sent to the simulation.

Plugins run in order and can read and rewrite ctrl/qfrc_applied. The default forwards to the deprecated update() so plugins that still override it keep working.

Parameters

model	Pointer to the MuJoCo model
data	Pointer to a recent snapshot (not the live mj_data_)

Reimplemented from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

---

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

• mujoco_ros2_control/mujoco_ros2_control_tests/src/test_plugin.cpp