mujoco_ros2_control_plugins::RangefinderLidarPlugin Class Reference

Plugin wrapper for MuJoCo rangefinder-based lidar sensors. More...

#include <rangefinder_lidar_plugin.hpp>

Inheritance diagram for mujoco_ros2_control_plugins::RangefinderLidarPlugin:

Collaboration diagram for mujoco_ros2_control_plugins::RangefinderLidarPlugin:

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 wrapper for MuJoCo rangefinder-based lidar sensors.

This handles the legacy pattern where individual mjSENS_RANGEFINDER sensors are grouped by name convention (e.g. lidar_name-0, lidar_name-1, ...) and published as LaserScan messages.

Member Function Documentation

cleanup()

void mujoco_ros2_control_plugins::RangefinderLidarPlugin::cleanup ( )

overridevirtual

Cleanup the plugin.

Implements mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase.

init()

bool mujoco_ros2_control_plugins::RangefinderLidarPlugin::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::RangefinderLidarPlugin::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/rangefinder_lidar_plugin.hpp
• mujoco_ros2_control/mujoco_ros2_control_plugins/src/rangefinder_lidar_plugin.cpp