hardware_interface::HardwareComponentInterfaceParams Struct Reference

Parameters required for the initialization of a specific hardware component plugin. Typically used for on_init methods of hardware interfaces, and is parsed by the user. This struct is typically populated with data from HardwareComponentParams from each component. More...

#include <hardware_component_interface_params.hpp>

Collaboration diagram for hardware_interface::HardwareComponentInterfaceParams:

Public Attributes
hardware_interface::HardwareInfo	hardware_info
	Reference to the HardwareInfo struct for this specific component, parsed from the URDF. The HardwareInfo object's lifetime must be guaranteed by the caller (e.g., ResourceManager) for the duration this struct is used.
rclcpp::Executor::WeakPtr	executor
	Weak pointer to the rclcpp::Executor instance. Hardware components can use this (after locking) to add their own internal ROS 2 nodes to the ControllerManager's executor.

Detailed Description

Parameters required for the initialization of a specific hardware component plugin. Typically used for on_init methods of hardware interfaces, and is parsed by the user. This struct is typically populated with data from HardwareComponentParams from each component.

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

• ros2_control/hardware_interface/include/hardware_interface/types/hardware_component_interface_params.hpp