mujoco_ros2_control_plugins::HeartbeatPublisherPlugin Class Reference

Simple plugin that publishes a heartbeat message every second. More...

#include <heartbeat_publisher_plugin.hpp>

Inheritance diagram for mujoco_ros2_control_plugins::HeartbeatPublisherPlugin:

Collaboration diagram for mujoco_ros2_control_plugins::HeartbeatPublisherPlugin:

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
	Update the plugin (called every simulation step)
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

Simple plugin that publishes a heartbeat message every second.

Member Function Documentation

cleanup()

void mujoco_ros2_control_plugins::HeartbeatPublisherPlugin::cleanup ( )

overridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init()

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

overridevirtual

Initialize the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

update_write()

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

overridevirtual

Update the plugin (called every simulation step)

Reimplemented from mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

---

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

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