mujoco_ros2_control_plugins::Lidar3dConfig Struct Reference

Data container for lidar sensor information. More...

#include <mujoco_3d_lidar_plugin.hpp>

Public Attributes
std::string	name
int	sensor_id
int	sensor_adr
int	plugin_stateadr
std::string	frame_name
std::vector< int >	resolution
std::vector< double >	azimuth_range
std::vector< double >	elevation_range
std::vector< geometry_msgs::msg::Vector3 >	vectors
double	range_min
double	range_max
bool	is_3d
bool	async { false }
std::string	lidar_topic
mjtNum	last_compute_time { 0.0 }
mjtNum	last_published_time { 0.0 }
sensor_msgs::msg::LaserScan	laser_scan_msg
rclcpp::Publisher< sensor_msgs::msg::LaserScan >::SharedPtr	scan_pub_raw
std::unique_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::LaserScan > >	scan_pub
sensor_msgs::msg::PointCloud2	point_cloud_msg
rclcpp::Publisher< sensor_msgs::msg::PointCloud2 >::SharedPtr	pointcloud_pub_raw
std::unique_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::PointCloud2 > >	pointcloud_pub

Detailed Description

Data container for lidar sensor information.

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

• mujoco_ros2_control/mujoco_ros2_control_plugins/src/mujoco_3d_lidar_plugin.hpp