Per-camera bookkeeping: configuration, buffers, and ROS publishers/service for one MuJoCo camera. More...

#include <camera_plugin.hpp>

Public Attributes
CameraPolicy	policy = CameraPolicy::STREAMING

bool	poll_requested { false }

bool	render_pending { false }

mjvCamera	mjv_cam

mjrRect	viewport

std::string	name

std::string	frame_name

std::string	info_topic

std::string	image_topic

std::string	depth_topic

std::string	trigger_service_name

uint32_t	width

uint32_t	height

std::vector< uint8_t >	image_buffer

std::vector< float >	depth_buffer

sensor_msgs::msg::Image	image

sensor_msgs::msg::Image	depth_image

sensor_msgs::msg::CameraInfo	camera_info

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	image_pub

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	depth_image_pub

rclcpp::Publisher< sensor_msgs::msg::CameraInfo >::SharedPtr	camera_info_pub

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	trigger_service

Detailed Description

Per-camera bookkeeping: configuration, buffers, and ROS publishers/service for one MuJoCo camera.

One instance exists per camera registered by CameraPlugin::register_cameras(). Buffers and messages are reused across renders to avoid reallocating on every publish.

The documentation for this struct was generated from the following file:

mujoco_ros2_control/mujoco_ros2_control_plugins/src/camera_plugin.hpp

Public Attributes

Detailed Description