fix: skip user sensors in sensor plugin initialization

Author: fpatzelt

CHANGELOG.md

@@ -12,6 +12,7 @@ Loading and reset times are reported in the server debug log. All plugin stats c
 ### Fixed
 * Added missing call to render callbacks in viewer. While the callbacks were still being run for offscreen rendering, the viewer did not render additional geoms added by plugins.
 * *mujoco_ros_control*: fixed sometimes using wrong joint id in default hardware interface (would only be correct, if the joints appear first and in the same order in the compiled MuJoCo model).
+* *mujoco_ros_sensors*: now skipping user sensors, as they should be handled in separate, dedicated plugins.
 
 ### Changed
 * Moved `mujoco_ros::Viewer::Clock` definition to `mujoco_ros::Clock` (into common_types.h).

mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp

@@ -444,6 +444,12 @@ void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
 		int parent_id = model->site_bodyid[site_id];
 		int type      = model->sensor_type[n];
 
+		// Skip user sensors because handling is unknown and should be done in extra plugin
+		if (type == mjSENS_USER) {
+			ROS_INFO_STREAM_NAMED("sensors", "Skipping USER sensor");
+			continue;
+		}
+
 		site = mj_id2name(const_cast<mjModel *>(model), model->sensor_objtype[n], site_id);
 
 		if (model->names[model->name_sensoradr[n]]) {