Semantic Components

In order to streamline the configuration of commonly used hardware interface, so-called semantic components can be used to wrap mechanisms to claim / release the interfaces. The base components semantic_components::SemanticComponentInterface and semantic_components::SemanticComponentCommandInterface are used to define semantic components for read-only and write-only devices, respectively.

List of existing SemanticComponentInterface (link to header file) and associated broadcaster, if any:

• IMUSensor, used by IMU Sensor Broadcaster

• ForceTorqueSensor, used by Force Torque Sensor Broadcaster

• GPSSensor

• PoseSensor, used by Pose Broadcaster

• RangeSensor, used by Range Sensor Broadcaster

List of existing SemanticComponentCommandInterface (link to header file) and associated controller, if any:

• LedRgbDevice