State Interfaces Broadcaster

The State Interfaces Broadcaster publishes the state of specified hardware interfaces of double data type. The broadcaster publishes two topics:

/state_interfaces_broadcaster/names: Publishes the names of the hardware interfaces being monitored with a message type of control_msgs/msg/Keys.
/state_interfaces_broadcaster/values: Publishes the current state values of the specified hardware interfaces with a message type of control_msgs/msg/Float64Values.

Parameters

This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.

interfaces (string_array)

The list of hardware interfaces information to be published by the interfaces state broadcaster.

Read only: True

Default: {}

Constraints:

parameter is not empty

An example parameter file for this controller can be found in the test directory:

test_state_interfaces_broadcaster:
  ros__parameters:
    interfaces: ["joint1/position", "joint2/velocity"]