hardware_interface::HardwareInfo Struct Reference

This structure stores information about hardware defined in a robot's URDF. More...

#include <hardware_info.hpp>

Public Attributes
std::string	name
	Name of the hardware.
std::string	type
	Type of the hardware: actuator, sensor or system.
std::string	hardware_class_type
	Class of the hardware that will be dynamically loaded.
std::unordered_map< std::string, std::string >	hardware_parameters
	(Optional) Key-value pairs for hardware parameters.
std::vector< ComponentInfo >	joints
std::vector< ComponentInfo >	sensors
std::vector< ComponentInfo >	gpios
std::vector< TransmissionInfo >	transmissions

Detailed Description

This structure stores information about hardware defined in a robot's URDF.

Member Data Documentation

gpios

std::vector<ComponentInfo> hardware_interface::HardwareInfo::gpios

Map of GPIO provided by the hardware where the key is a descriptive name of the GPIO. Optional for any hardware components.

joints

std::vector<ComponentInfo> hardware_interface::HardwareInfo::joints

Map of joints provided by the hardware where the key is the joint name. Required for Actuator and System Hardware.

sensors

std::vector<ComponentInfo> hardware_interface::HardwareInfo::sensors

Map of sensors provided by the hardware where the key is the joint or link name. Required for Sensor and optional for System Hardware.

transmissions

std::vector<TransmissionInfo> hardware_interface::HardwareInfo::transmissions

Map of transmissions to calculate ration between joints and physical actuators. Optional for Actuator and System Hardware.

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The documentation for this struct was generated from the following file:

• ros2_control/hardware_interface/include/hardware_interface/hardware_info.hpp