mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin Class Reference

Plugin that publishes the pose and velocity of every MuJoCo free-joint body (or a user-selected subset) to a single topic, in a user-selectable reference frame. More...

#include <free_joint_state_publisher_plugin.hpp>

Inheritance diagram for mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin:

Collaboration diagram for mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin:

Public Member Functions
bool	init (rclcpp::Node::SharedPtr node, const mjModel *model, mjData *data) override
	Initialize the plugin.
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.
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 pose and velocity of every MuJoCo free-joint body (or a user-selected subset) to a single topic, in a user-selectable reference frame.

Publishes mujoco_ros2_control_msgs/msg/FreeJointStateArray on the configurable topic parameter.

Parameters

frame_id - Name of the MuJoCo body every published pose/twist is expressed relative to. Empty (the default) means the world frame. body_names - Names of the free-joint bodies to publish. Empty (the default) means every free-joint body in the model. topic - Output topic name. Defaults to "free_joint_states". publish_rate - Publish frequency in Hz. Defaults to 50.0.

Frame semantics

When frame_id names another body, poses are expressed relative to that body's current world pose, and twists are rotated into that body's current world orientation without subtracting the reference body's own velocity.

Member Function Documentation

cleanup()

void mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin::cleanup ( )

overridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init()

bool mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin::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.

update_write()

void mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin::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/free_joint_state_publisher_plugin.hpp
• mujoco_ros2_control/mujoco_ros2_control_plugins/src/free_joint_state_publisher_plugin.cpp