Parameters required for the construction and initial setup of a ResourceManager. This struct is typically populated by the ControllerManager. More...

Public Attributes
std::string	robot_description = ""
	The URDF string describing the robot's hardware components. Can be empty if ResourceManager is constructed without an initial URDF and components are loaded later or via other means.

rclcpp::Clock::SharedPtr	clock = nullptr
	Shared pointer to the Clock used by the ResourceManager. This is typically obtained from the node via get_clock().

rclcpp::Logger	logger = rclcpp::get_logger("resource_manager")
	Logger instance used by the ResourceManager. This is typically obtained from the node via get_logger().

rclcpp::Executor::SharedPtr	executor = nullptr
	Shared pointer to the rclcpp::Executor instance that the ResourceManager and its components (including plugins that opt-in) will use. This is typically the ControllerManager's main executor.

bool	activate_all = false
	Flag indicating if all hardware components found in the URDF should be automatically activated after successful loading and initialization.

unsigned int	update_rate = 100
	The update rate (in Hz) of the ControllerManager. This can be used by ResourceManager to configure asynchronous hardware components or for other timing considerations.

Detailed Description

Parameters required for the construction and initial setup of a ResourceManager. This struct is typically populated by the ControllerManager.

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

ros2_control/hardware_interface/include/hardware_interface/types/resource_manager_params.hpp

Public Attributes