Inheritance diagram for mujoco_ros2_control::MujocoSystemInterface:

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Collaboration diagram for mujoco_ros2_control::MujocoSystemInterface:

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Public Member Functions
	MujocoSystemInterface ()
	ros2_control SystemInterface to wrap Mujocos Simulate application.

hardware_interface::CallbackReturn	on_init (const hardware_interface::HardwareInfo &info) override

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface.

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface.

hardware_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the hardware.

hardware_interface::return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Write the current command values to the hardware.

const hardware_interface::HardwareInfo &	get_hardware_info () const

void	actuator_state_to_joint_state ()
	Converts actuator states to joint states.

void	joint_command_to_actuator_command ()
	Converts joint commands to actuator commands.

void	get_model (mjModel *&dest)
	Returns a copy of the MuJoCo model.

void	get_data (mjData *&dest)
	Returns a copy of the current MuJoCo data.

void	set_data (mjData *mj_data)
	Sets the MuJoCo data to the provided value.

Public Member Functions inherited from hardware_interface::HardwareComponentInterface
	HardwareComponentInterface (const HardwareComponentInterface &other)=delete
	HardwareComponentInterface copy constructor is actively deleted.

	HardwareComponentInterface (HardwareComponentInterface &&other)=delete

CallbackReturn	init (const hardware_interface::HardwareComponentParams &params)

virtual CallbackReturn	init_hardware_status_message (control_msgs::msg::HardwareStatus &msg_template)
	User-overridable method to configure the structure of the HardwareStatus message.

virtual return_type	update_hardware_status_message (control_msgs::msg::HardwareStatus &msg)
	User-overridable method to fill the hardware status message with real-time data.

virtual CallbackReturn	on_init (const hardware_interface::HardwareComponentInterfaceParams &params)
	Initialization of the hardware interface from data parsed from the robot's URDF.

virtual rclcpp::NodeOptions	define_custom_node_options () const
	Define custom node options for the hardware component interface.

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_state_interface_descriptions ()

virtual std::vector< StateInterface::ConstSharedPtr >	on_export_state_interfaces ()

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_command_interface_descriptions ()

virtual std::vector< CommandInterface::SharedPtr >	on_export_command_interfaces ()

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
	Prepare for a new command interface switch.

HardwareComponentCycleStatus	trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the read method synchronously or asynchronously depending on the HardwareInfo.

HardwareComponentCycleStatus	trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the write method synchronously or asynchronously depending on the HardwareInfo.

const std::string &	get_name () const
	Get name of the hardware.

const std::string &	get_group_name () const
	Get name of the hardware group to which it belongs to.

const rclcpp_lifecycle::State &	get_lifecycle_state () const
	Get life-cycle state of the hardware.

void	set_lifecycle_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the hardware.

uint8_t	get_lifecycle_id () const
	Get the lifecycle id of the hardware component interface.

virtual bool	has_state (const std::string &interface_name) const
	Does the state interface exist?

virtual const StateInterface::SharedPtr &	get_state_interface_handle (const std::string &interface_name) const
	Get the state interface handle.

template<typename T >
bool	set_state (const StateInterface::SharedPtr &interface_handle, const T &value, bool wait_until_set)
	Set the value of a state interface.

template<typename T >
void	set_state (const std::string &interface_name, const T &value)
	Set the value of a state interface.

template<typename T >
bool	get_state (const StateInterface::SharedPtr &interface_handle, T &state, bool wait_until_get) const

template<typename T = double>
T	get_state (const std::string &interface_name) const
	Get the value from a state interface.

virtual bool	has_command (const std::string &interface_name) const
	Does the command interface exist?

virtual const CommandInterface::SharedPtr &	get_command_interface_handle (const std::string &interface_name) const
	Get the command interface handle.

template<typename T >
bool	set_command (const CommandInterface::SharedPtr &interface_handle, const T &value, bool wait_until_set)
	Set the value of a command interface.

template<typename T >
void	set_command (const std::string &interface_name, const T &value)
	Set the value of a command interface.

template<typename T >
bool	get_command (const CommandInterface::SharedPtr &interface_handle, T &command, bool wait_until_get) const

template<typename T = double>
T	get_command (const std::string &interface_name) const
	Get the value from a command interface.

virtual rclcpp::Clock::SharedPtr	get_clock () const
	Get the clock.

const HardwareInfo &	get_hardware_info () const
	Get the hardware info of the HardwareComponentInterface.

void	pause_async_operations ()
	Pause any asynchronous operations.

void	prepare_for_activation ()
	Prepare for the activation of the hardware.

void	enable_introspection (bool enable)
	Enable or disable introspection of the hardware.

Protected Member Functions
rclcpp::Logger	get_logger () const
	Get the logger of the HardwareComponentInterface.

Additional Inherited Members
Protected Attributes inherited from hardware_interface::HardwareComponentInterface
HardwareInfo	info_

std::unordered_map< std::string, InterfaceDescription >	joint_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	joint_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	sensor_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_command_interfaces_

rclcpp_lifecycle::State	lifecycle_state_

std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > >	async_handler_

std::vector< StateInterface::SharedPtr >	joint_states_

std::vector< CommandInterface::SharedPtr >	joint_commands_

std::vector< StateInterface::SharedPtr >	sensor_states_

std::vector< StateInterface::SharedPtr >	gpio_states_

std::vector< CommandInterface::SharedPtr >	gpio_commands_

std::vector< StateInterface::SharedPtr >	unlisted_states_

std::vector< CommandInterface::SharedPtr >	unlisted_commands_

pal_statistics::RegistrationsRAII	stats_registrations_

Constructor & Destructor Documentation

◆ MujocoSystemInterface()

mujoco_ros2_control::MujocoSystemInterface::MujocoSystemInterface ( )

default

ros2_control SystemInterface to wrap Mujocos Simulate application.

Supports Actuators, Force Torque/IMU Sensors, and RGB-D camera, and Lidar Sensors in ROS 2 simulations. For more information on configuration refer to the docs, check the comment strings below, and refer to the example in the test folder.

Member Function Documentation

◆ actuator_state_to_joint_state()

void mujoco_ros2_control::MujocoSystemInterface::actuator_state_to_joint_state ( )

Converts actuator states to joint states.

This method reads the current states of the actuators in the MuJoCo simulation and updates the corresponding joint states in the ROS 2 control interface either through transmissions or directly.

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > mujoco_ros2_control::MujocoSystemInterface::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

Old way of exporting the CommandInterfaces. If a empty vector is returned then the on_export_command_interfaces() method is called. If a vector with CommandInterfaces is returned then the exporting of the CommandInterfaces is only done with this function and the ownership is transferred to the resource manager. The set_command(...), get_command(...), ..., can then not be used.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > mujoco_ros2_control::MujocoSystemInterface::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

Old way of exporting the StateInterfaces. If a empty vector is returned then the on_export_state_interfaces() method is called. If a vector with StateInterfaces is returned then the exporting of the StateInterfaces is only done with this function and the ownership is transferred to the resource manager. The set_command(...), get_command(...), ..., can then not be used.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ get_data()

void mujoco_ros2_control::MujocoSystemInterface::get_data ( mjData *& dest )

Returns a copy of the current MuJoCo data.

This method locks the simulation mutex to ensure thread safety.

Parameters

dest	Pointer to an mjData structure where the copy will be stored. The pointer will be allocated if it is nullptr.

◆ get_logger()

rclcpp::Logger mujoco_ros2_control::MujocoSystemInterface::get_logger ( ) const

protectedvirtual

Get the logger of the HardwareComponentInterface.

Returns: logger of the HardwareComponentInterface.

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ get_model()

void mujoco_ros2_control::MujocoSystemInterface::get_model ( mjModel *& dest )

Returns a copy of the MuJoCo model.

This method locks the simulation mutex to ensure thread safety.

Parameters

dest	Pointer to an mjModel structure where the copy will be stored. The pointer will be allocated if it is nullptr.

◆ joint_command_to_actuator_command()

void mujoco_ros2_control::MujocoSystemInterface::joint_command_to_actuator_command ( )

Converts joint commands to actuator commands.

This method takes the command inputs for the joints from the ROS 2 control interface and translates them into appropriate commands for the actuators in the MuJoCo simulation, considering any loaded transmissions or directly.

◆ on_init()

hardware_interface::CallbackReturn mujoco_ros2_control::MujocoSystemInterface::on_init ( const hardware_interface::HardwareInfo & info )

override

The PIDs config file

◆ perform_command_mode_switch()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::perform_command_mode_switch	(	const std::vector< std::string > &	start_interfaces,
		const std::vector< std::string > &	stop_interfaces
	)

overridevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be switched to (or) if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ read()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Read the current state values from the hardware.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::HardwareComponentInterface.

◆ set_data()

void mujoco_ros2_control::MujocoSystemInterface::set_data ( mjData * mj_data )

Sets the MuJoCo data to the provided value.

This method locks the simulation mutex to ensure thread safety.

Parameters

mj_data Pointer to an mjData structure containing the new data.

◆ write()

hardware_interface::return_type mujoco_ros2_control::MujocoSystemInterface::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Write the current command values to the hardware.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

The documentation for this class was generated from the following files:

mujoco_ros2_control/mujoco_ros2_control/include/mujoco_ros2_control/mujoco_system_interface.hpp
mujoco_ros2_control/mujoco_ros2_control/src/mujoco_system_interface.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ MujocoSystemInterface()

Member Function Documentation

◆ actuator_state_to_joint_state()

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ get_data()

◆ get_logger()

◆ get_model()

◆ joint_command_to_actuator_command()

◆ on_init()

◆ perform_command_mode_switch()

◆ read()

◆ set_data()

◆ write()