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Reuse the logger with get_logger method #28

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Merged
saikishor merged 1 commit into from
Dec 15, 2025
Merged

Reuse the logger with get_logger method #28

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5 changes: 5 additions & 0 deletions include/mujoco_ros2_simulation/mujoco_system_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,8 @@ class MujocoSystemInterface : public hardware_interface::SystemInterface
*/
void publish_clock();

rclcpp::Logger get_logger() const;

// System information
std::string model_path_;

Expand All @@ -200,6 +202,9 @@ class MujocoSystemInterface : public hardware_interface::SystemInterface
mjvOption opt_;
mjvPerturb pert_;

// Logger
rclcpp::Logger logger_ = rclcpp::get_logger("MujocoSystemInterface");
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@eholum-nasa eholum-nasa Dec 15, 2025

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Oh I did not realize this got constructed every time! Nice change!

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@saikishor saikishor Dec 15, 2025

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Yup!


// Speed scaling parameter. if set to >0 then we ignore the value set in the simulate app and instead
// attempt to loop at whatever this is set to. If this is <0, then we use the value from the app.
double sim_speed_factor_;
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