sensor_interface.hpp

// Copyright 2020 - 2021 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
#define HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
 
#include <vector>
 
#include "hardware_interface/hardware_component_interface.hpp"
 
namespace hardware_interface
{
 
class SensorInterface : public HardwareComponentInterface
{
public:
  std::vector<CommandInterface::SharedPtr> on_export_command_interfaces() override { return {}; }
 
  return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) final
  {
    return return_type::OK;
  }
};
 
}  // namespace hardware_interface
#endif  // HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_