Class HeartbeatPublisherPlugin

• Defined in File heartbeat_publisher_plugin.hpp

Inheritance Relationships

Base Type

• public mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase (Class MuJoCoROS2ControlPluginBase)

Class Documentation

class HeartbeatPublisherPlugin : public mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase

Simple plugin that publishes a heartbeat message every second.

Public Functions

HeartbeatPublisherPlugin() = default

~HeartbeatPublisherPlugin() override = default

virtual bool init(rclcpp::Node::SharedPtr node, const mjModel *model, mjData *data) override

Initialize the plugin.

virtual void update(const mjModel *model, mjData *data) override

Update the plugin (called every simulation step)

virtual void cleanup() override

Cleanup the plugin.