Per-lidar bookkeeping for a single named group of MuJoCo rangefinder sensors. More...

#include <rangefinder_lidar_plugin.hpp>

Public Attributes
std::string	name

std::string	frame_name

int	num_rangefinders

double	min_angle

double	max_angle

double	angle_increment

double	range_min

double	range_max

std::vector< int >	sensor_indexes

std::vector< mjtNum >	raw_data

std::string	laserscan_topic

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

Detailed Description

Per-lidar bookkeeping for a single named group of MuJoCo rangefinder sensors.

One instance is created per distinct lidar name (see RangefinderLidarPlugin::parse_lidar_name), grouping together every mjSENS_RANGEFINDER sensor that shares that name prefix into a single LaserScan publisher.

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

mujoco_ros2_control/mujoco_ros2_control_plugins/src/rangefinder_lidar_plugin.hpp

Public Attributes

Detailed Description