hardware_interface::ComponentInfo Struct Reference

#include <hardware_info.hpp>

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< InterfaceInfo >	command_interfaces
std::vector< InterfaceInfo >	state_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.

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

• ros2_control/hardware_interface/include/hardware_interface/hardware_info.hpp