resource_manager_params.hpp

// Copyright 2025 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef HARDWARE_INTERFACE__TYPES__RESOURCE_MANAGER_PARAMS_HPP_
#define HARDWARE_INTERFACE__TYPES__RESOURCE_MANAGER_PARAMS_HPP_
 
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
 
namespace hardware_interface
{
 
struct ResourceManagerParams
{
  ResourceManagerParams() = default;
  std::string robot_description = "";
 
  rclcpp::Clock::SharedPtr clock = nullptr;
 
  rclcpp::Logger logger = rclcpp::get_logger("resource_manager");
 
  std::string node_namespace = "";
 
  rclcpp::Executor::SharedPtr executor = nullptr;
 
  bool activate_all = false;
 
  bool allow_controller_activation_with_inactive_hardware = false;
 
  bool return_failed_hardware_names_on_return_deactivate_write_cycle_ = true;
 
  unsigned int update_rate = 100;
};
 
}  // namespace hardware_interface
 
#endif  // HARDWARE_INTERFACE__TYPES__RESOURCE_MANAGER_PARAMS_HPP_