Class MujocoLidar

• Defined in File mujoco_lidar.hpp

Class Documentation

class MujocoLidar

Wraps Mujoco rangefinder sensors for publishing ROS 2 LaserScan messages.

Public Functions

explicit MujocoLidar(rclcpp::Node::SharedPtr &node, std::recursive_mutex *sim_mutex, mjData *mujoco_data, mjModel *mujoco_model, double lidar_publish_rate)

Constructs a new MujocoLidar wrapper object.

Parameters:

• node – Will be used to construct laserscan publishers

• sim_mutex – Provides synchronized access to the mujoco_data object for grabbing rangefinder data

• mujoco_data – Mujoco data for the simulation

• mujoco_model – Mujoco model for the simulation

• lidar_publish_rate – The rate to publish all camera images, for now all images are published at the same rate.

void init()

Starts the lidar processing thread in the background.

void close()

Stops the lidar processing thread and closes the relevant objects, call before shutdown.

bool register_lidar(const hardware_interface::HardwareInfo &hardware_info)

Parses lidar information from the mujoco model.

Returns true if successful, false otherwise.