Remove plugin loader

Author: CihatAltiparmak

mujoco_ros2_control/CMakeLists.txt

@@ -62,7 +62,7 @@ install(TARGETS
 )
 
 # TODO: make it simple
-add_executable(mujoco_ros2_control src/mujoco_ros2_control_node.cpp src/mujoco_rendering.cpp src/mujoco_ros2_control.cpp)
+add_executable(mujoco_ros2_control src/mujoco_ros2_control_node.cpp src/mujoco_rendering.cpp src/mujoco_ros2_control.cpp src/mujoco_system.cpp src/mujoco_sensor.cpp)
 ament_target_dependencies(mujoco_ros2_control ${THIS_PACKAGE_DEPENDS})
 target_link_libraries(mujoco_ros2_control ${MUJOCO_LIB} glfw)
 target_include_directories(mujoco_ros2_control PUBLIC ${MUJOCO_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIR})

mujoco_ros2_control/src/mujoco_ros2_control.cpp

@@ -10,7 +10,6 @@ class MJResourceManager : public hardware_interface::ResourceManager{
 public:
   MJResourceManager(rclcpp::Node::SharedPtr& node, mjModel*& mj_model, mjData*& mj_data)
   : hardware_interface::ResourceManager(node->get_node_clock_interface(), node->get_node_logging_interface()),
-        mj_system_loader_("mujoco_ros2_control", "mujoco_ros2_control::MujocoSystemInterface"),
         logger_(node->get_logger().get_child("MJResourceManager")), mj_model_(mj_model), mj_data_(mj_data)
   {
     node_ = node;
@@ -62,14 +61,16 @@ class MJResourceManager : public hardware_interface::ResourceManager{
       // Load hardware
       std::unique_ptr<MujocoSystemInterface> mjSimSystem;
       std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
-      try
-      {
-        mjSimSystem = std::unique_ptr<MujocoSystemInterface>(
-          mj_system_loader_.createUnmanagedInstance(robot_hw_sim_type_str_));
-      } catch (pluginlib::PluginlibException & ex) {
-        RCLCPP_ERROR_STREAM(logger_, "The plugin failed to load. Error: " << ex.what());
-        continue;
-      }
+      // try
+      // {
+      //   mjSimSystem = std::unique_ptr<MujocoSystemInterface>(
+      //     mj_system_loader_.createUnmanagedInstance(robot_hw_sim_type_str_));
+      // } catch (pluginlib::PluginlibException & ex) {
+      //   RCLCPP_ERROR_STREAM(logger_, "The plugin failed to load. Error: " << ex.what());
+      //   continue;
+      // }
+
+      mjSimSystem.reset(new MujocoSystem());
 
       // initialize simulation required resource from the hardware info.
       urdf::Model urdf_model;
@@ -88,7 +89,7 @@ class MJResourceManager : public hardware_interface::ResourceManager{
 
 private:
   std::shared_ptr<rclcpp::Node> node_;
-  pluginlib::ClassLoader<MujocoSystemInterface> mj_system_loader_;
+  // pluginlib::ClassLoader<MujocoSystemInterface> mj_system_loader_;
   rclcpp::Logger logger_;
   mjModel*& mj_model_;
   mjData*& mj_data_;