mujoco_ros2_control_plugins::FtsGravCompPlugin Class Reference

Plugin that runs gravity compensation on a force torque sensor. More...

#include <fts_grav_comp_plugin.hpp>

Inheritance diagram for mujoco_ros2_control_plugins::FtsGravCompPlugin:

Collaboration diagram for mujoco_ros2_control_plugins::FtsGravCompPlugin:

Public Member Functions
std::vector< std::string >	get_sensor_names_from_parameters ()
	Parses the params file and returns a vector of unique sensor names.
bool	register_fts (const mjModel *model)
	Register force torque sensors from the model that match the params.
bool	init (rclcpp::Node::SharedPtr node, const mjModel *model, mjData *data) override
	Initialize the plugin.
void	update_read (const mjModel *model, mjData *data) override
	Compensate the force/torque sensors in the state read by ros2_control.
void	cleanup () override
	Cleanup the plugin.
std::vector< FtsData >	get_fts_data () const
	getter for fts data used for testing
Public Member Functions inherited from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase
virtual void	update_write (const mjModel *model, mjData *data)
	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.
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 runs gravity compensation on a force torque sensor.

Member Function Documentation

cleanup()

void mujoco_ros2_control_plugins::FtsGravCompPlugin::cleanup ( )

overridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init()

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

overridevirtual

Initialize the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

update_read()

void mujoco_ros2_control_plugins::FtsGravCompPlugin::update_read ( const mjModel *  model, mjData *  data  )

overridevirtual

Compensate the force/torque sensors in the state read by ros2_control.

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