39 CallbackReturn on_init(
const hardware_interface::HardwareComponentInterfaceParams& params)
override;
41 hardware_interface::return_type
read(
const rclcpp::Time& time,
const rclcpp::Duration& period)
override;
43 hardware_interface::return_type
write(
const rclcpp::Time& ,
const rclcpp::Duration& )
override;
46 rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr topic_based_joint_states_subscriber_;
47 rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr topic_based_joint_commands_publisher_;
48 sensor_msgs::msg::JointState latest_joint_state_;
49 bool sum_wrapped_joint_states_{
false };
53 double trigger_joint_command_threshold_ = 1e-5;