ROS2 Control
Public Attributes | List of all members
hardware_interface::ComponentInfo Struct Reference

#include <hardware_info.hpp>

Collaboration diagram for hardware_interface::ComponentInfo:
Collaboration graph

Public Attributes

std::string name
 Name of the component.
std::string type
 Type of the component: sensor, joint, or GPIO.
MimicAttribute is_mimic = MimicAttribute::NOT_SET
 Hold the value of the mimic attribute if given, NOT_SET otherwise.
std::vector< InterfaceInfocommand_interfaces
std::vector< InterfaceInfostate_interfaces
std::unordered_map< std::string, std::string > parameters
 (Optional) Key-value pairs of component parameters, e.g. min/max values or serial number.

Detailed Description

This structure stores information about components defined for a specific hardware in robot's URDF.

Member Data Documentation

◆ command_interfaces

std::vector<InterfaceInfo> hardware_interface::ComponentInfo::command_interfaces

Name of the command interfaces that can be set, e.g. "position", "velocity", etc. Used by joints and GPIOs.

◆ state_interfaces

std::vector<InterfaceInfo> hardware_interface::ComponentInfo::state_interfaces

Name of the state interfaces that can be read, e.g. "position", "velocity", etc. Used by joints, sensors and GPIOs.

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