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Rangefinder lidar as plugin - #7
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eholum-nasa wants to merge 7 commits into
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* Coppied external wrench plugin so I have something to start off with * emptied out camera plugin and added some publishers * smushed the mujco_cameras code into camera_plugin * removed camera and lidars from system interface * added the plugin into the plugins list * removed repeating parameters * combined init functions * Adjusting camera * Remove cameras * Ignore headless init for now * Use a condition variable * Descope test * Update core deps * Add camera test * moved mujoco data copying to the main thread * removed repeating headers * added parameters for topic definitions * added class descriptor * parameterized camera publishing rate * reorganized GLFW initialization * added is_initialized flag to avoid racing conditions * added configuration file to the demo launch files, necessary for testing * removed debugging log * forgot the pre-commit * added fix for statically linking tinyxml2 * Update mujoco_ros2_control_plugins/include/mujoco_ros2_control_plugins/camera_plugin.hpp Co-authored-by: Erik Holum <erik.holum@nasa.gov> * Update mujoco_ros2_control_plugins/include/mujoco_ros2_control_plugins/camera_plugin.hpp Co-authored-by: Erik Holum <erik.holum@nasa.gov> * Update mujoco_ros2_control_plugins/include/mujoco_ros2_control_plugins/camera_plugin.hpp Co-authored-by: Erik Holum <erik.holum@nasa.gov> * removed repeated instructions * moved camera docs * no more publish rate * Update docs, add a warning * Comments and minor tweak to rendering * Re-add conditional check in update * minor cleanup * Leave legacy launch mechanisms in place for some demos * typo * Cleanup helper * Only warn if the plugin wasn't loaded * Plugin description was wrong * Update mujoco_ros2_control_plugins/include/mujoco_ros2_control_plugins/camera_plugin.hpp Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Support legacy camera registration for now --------- Co-authored-by: Erik Holum <erik.holum@nasa.gov> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
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Working on top of ros-controls#211. Leaving here for now until the upstream is merged...
Does the exact same thing simply for legacy support of existing rangefinder sensors. These shouldn't be too long lived so minimal effort on docs and what not until we decide what to do for 3d lidar support.