hardware_interface::HardwareComponentParams Struct Reference

Parameters required for the initialization of a specific hardware component plugin. Typically used for init, initialise and load methods of hardware components. This struct is typically not accessible to user. This struct is typically populated with data from ResourceManagerParams. More...

#include <hardware_component_params.hpp>

Collaboration diagram for hardware_interface::HardwareComponentParams:

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::Logger	logger = rclcpp::get_logger("resource_manager")
	A logger instance taken from resource manager.
rclcpp::Clock::SharedPtr	clock = nullptr
	Shared pointer to the rclcpp::Clock to be used by this hardware component. Typically, this is the same clock used by the ResourceManager/ControllerManager.
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 init, initialise and load methods of hardware components. This struct is typically not accessible to user. This struct is typically populated with data from ResourceManagerParams.

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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_params.hpp