mujoco_ros2_control_plugins::CameraPlugin Class Reference

Plugin that publishes the mujoco camera data to ROS 2 topics. More...

#include <camera_plugin.hpp>

Inheritance diagram for mujoco_ros2_control_plugins::CameraPlugin:

Collaboration diagram for mujoco_ros2_control_plugins::CameraPlugin:

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

Public Member Functions
bool	init (rclcpp::Node::SharedPtr node, const mjModel *model, mjData *data) override
	Initialize the plugin.
bool	init (rclcpp::Node::SharedPtr node, const mjModel *model, mjData *data, GlfwInitFn glfw_init_fn)
	Overload of init() that takes an injectable GLFW initializer.
void	update_write (const mjModel *model, mjData *data) 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	cleanup () override
	Cleanup the plugin.
void	trigger_update ()
	Synchronously run a single render/publish cycle in the calling thread.
bool	is_rendering_available () const
	Whether the rendering thread has successfully initialized its GL context.
Public Member Functions inherited from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase
virtual void	update_read (const mjModel *, mjData *)
	Called once per read() cycle, on the control thread, before the state is handed to ros2_control. Default does nothing.
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.
virtual void	on_reset (mjData *)
	Called after a world reset (ResetWorld service or UI reset). Default does nothing.

Detailed Description

Plugin that publishes the mujoco camera data to ROS 2 topics.

Camera topics can be named in the ROS 2 controls plugins YAML config file and loaded as node parameters. If any of the parameters are not specified, default topic names will be assigned. A user can provide topic names for multiple cameras as long as cameras are not named the same. Name collision is resolved by last name in the yaml file.

Plugin Parameters Structure (and default topics)

mujoco_camera_plugin: type: "mujoco_ros2_control_plugins/CameraPlugin"

All cameras will publish data at the same rate

camera_publish_rate: 6.0 <camera_name>: policy: <policy> # "disabled", "polled", or "streaming" frame_name: <camera_name>_frame info_topic: <camera_name>/camera_info image_topic: <camera_name>/color depth_topic: <camera_name>/depth trigger_service_name: <camera_name>/trigger # only used for polling camera policy

Implementation notes

If the camera name, in the parameters, does not match any of the mujoco cameras the data will not be published to ROS topics. If no camera parameters are given, but the mujoco_camera_plugin and its policy are declared, the default policy (streaming), topics, and frame are used automatically.

Member Typedef Documentation

GlfwInitFn

using mujoco_ros2_control_plugins::CameraPlugin::GlfwInitFn = std::function<int()>

Signature of the GLFW initializer; injectable for testing.

Member Function Documentation

cleanup()

void mujoco_ros2_control_plugins::CameraPlugin::cleanup ( )

overridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init() [1/2]

bool mujoco_ros2_control_plugins::CameraPlugin::init ( rclcpp::Node::SharedPtr  node, const mjModel *  model, mjData *  data  )

overridevirtual

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.

init() [2/2]

bool mujoco_ros2_control_plugins::CameraPlugin::init	(	rclcpp::Node::SharedPtr	node,
		const mjModel *	model,
		mjData *	data,
		GlfwInitFn	glfw_init_fn
	)

Overload of init() that takes an injectable GLFW initializer.

Exists so tests can substitute a fake glfw_init_fn (e.g. one that always fails) to exercise the EGL fallback / rendering-disabled paths without requiring a real display or GL context. The public init() override simply forwards to this overload using the real glfwInit.

Parameters

glfw_init_fn

Function used to attempt GLFW initialization; same signature as glfwInit.

is_rendering_available()

bool mujoco_ros2_control_plugins::CameraPlugin::is_rendering_available ( ) const

inline

Whether the rendering thread has successfully initialized its GL context.

Primarily useful for tests that need to wait for the asynchronous rendering thread to come up before forcing a render.

trigger_update()

void mujoco_ros2_control_plugins::CameraPlugin::trigger_update

(

)

Synchronously run a single render/publish cycle in the calling thread.

This mirrors what the rendering thread does on each pass: streaming cameras are always selected, and polled cameras are selected only if their trigger service has been called since the last cycle. It is intended for tests, where it lets the camera selection logic be exercised deterministically without relying on the asynchronous rendering thread or a live GL context.

update_write()

void mujoco_ros2_control_plugins::CameraPlugin::update_write ( const mjModel *  model, mjData *  data  )

overridevirtual

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.

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

• mujoco_ros2_control/mujoco_ros2_control_plugins/src/camera_plugin.hpp
• mujoco_ros2_control/mujoco_ros2_control_plugins/src/camera_plugin.cpp