#include <camera_ros.hpp>

Public Member Functions
	CameraRosPublisher (rclcpp::Node &node, const mjModel *model, CameraConf conf)
bool	wants_frame (double sim_t) const
void	publish (const std::uint8_t *rgb, double sim_t)
const sensor_msgs::msg::CameraInfo &	camera_info () const

Detailed Description

Publishes an already-rendered RGB frame as sensor_msgs/Image plus its CameraInfo.

A frame sink, not a renderer: it creates no node, no executor and no thread, and never touches mjModel or mjData after construction. Call it from the thread that rendered the frame - render once, hand the same buffer to whatever else consumes it.

Intrinsics are read from the model's cam_fovy at construction, so the published K is the one MuJoCo rendered with. Pixels are published exactly as rendered: a MuJoCo camera looks along its -Z with +Y up, so frame_id must name a frame already rotated into the ROS optical convention, or every pose a consumer estimates comes out rotated.

CameraRosPublisher pub(*node, model, conf); if (pub.wants_frame(t) && render_rgb(&vr, model, data, rgb.data())) pub.publish(rgb.data(), t);

Definition at line 47 of file camera_ros.hpp.

Constructor & Destructor Documentation

◆ CameraRosPublisher()

mj_kdl::CameraRosPublisher::CameraRosPublisher	(	rclcpp::Node &	node,
		const mjModel *	model,
		CameraConf	conf )

Member Function Documentation

◆ camera_info()

const sensor_msgs::msg::CameraInfo & mj_kdl::CameraRosPublisher::camera_info ( ) const

inline

The CameraInfo published alongside every frame; built once, only its stamp changes.

Definition at line 59 of file camera_ros.hpp.

Referenced by TEST_F().

◆ publish()

void mj_kdl::CameraRosPublisher::publish	(	const std::uint8_t *	rgb,
		double	sim_t )

One top-down RGB frame, width * height * 3 bytes, stamped with the sim time it shows.

◆ wants_frame()

bool mj_kdl::CameraRosPublisher::wants_frame ( double sim_t ) const

Due by rate, and somebody is subscribed to the image topic. No frame is touched.