This structure stores information about hardware defined in a robot's URDF.
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#include <hardware_info.hpp>
This structure stores information about hardware defined in a robot's URDF.
◆ 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.
◆ original_xml
std::string hardware_interface::HardwareInfo::original_xml |
The XML contents prior to parsing
◆ 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
Map of transmissions to calculate ration between joints and physical actuators. Optional for Actuator and System Hardware.
The documentation for this struct was generated from the following file: