mujoco_ros2_control_plugins Namespace Reference

Classes
class	BaseVelocityPlugin
	Drives a mobile/floating-base robot from a commanded planar body velocity (vx, vy, yaw-rate) by writing a hard kinematic override of the base's free-joint velocity directly into data->qvel every cycle. More...
struct	CameraData
	Per-camera bookkeeping: configuration, buffers, and ROS publishers/service for one MuJoCo camera. More...
class	CameraPlugin
	Plugin that publishes the mujoco camera data to ROS 2 topics. More...
class	ExternalWrenchPlugin
	Plugin that applies one or more external wrenches (force + torque) to named MuJoCo bodies for configurable durations. More...
class	FreeJointStatePublisherPlugin
	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...
struct	FtsData
	Per-FTS bookkeeping -. More...
class	FtsGravCompPlugin
	Plugin that runs gravity compensation on a force torque sensor. More...
class	HeartbeatPublisherPlugin
	Simple plugin that publishes a heartbeat message every second. More...
struct	Lidar3dConfig
	Data container for lidar sensor information. More...
class	Mujoco3dLidarPlugin
	Plugin wrapper of the included 3D Lidar MuJoCo extension. More...
class	MuJoCoROS2ControlPluginBase
	Base class for MuJoCo ROS 2 control plugins. More...
struct	RangefinderLidarData
	Per-lidar bookkeeping for a single named group of MuJoCo rangefinder sensors. More...
class	RangefinderLidarPlugin
	Plugin wrapper for MuJoCo rangefinder-based lidar sensors. More...

Enumerations
enum class	CameraPolicy { DISABLED = 0 , STREAMING , POLLED }
	Selects when a camera's images are rendered and published.

Detailed Description

Copyright (c) 2026, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration.

All rights reserved.

This software is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Copyright (c) 2025, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration.

All rights reserved.

This software is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.