This structure stores information about hardware defined in a robot's URDF. More...

#include <hardware_info.hpp>

Public Attributes
std::string	name
	Name of the hardware.

std::string	type
	Type of the hardware: actuator, sensor or system.

std::string	group
	Hardware group to which the hardware belongs.

unsigned int	rw_rate
	Component's read and write rates in Hz.

bool	is_async
	Component is async.

int	thread_priority
	Async thread priority.

std::string	hardware_plugin_name
	Name of the pluginlib plugin of the hardware that will be loaded.

std::unordered_map< std::string, std::string >	hardware_parameters
	(Optional) Key-value pairs for hardware parameters.

std::vector< ComponentInfo >	joints

std::vector< MimicJoint >	mimic_joints

std::vector< ComponentInfo >	sensors

std::vector< ComponentInfo >	gpios

std::vector< TransmissionInfo >	transmissions

std::string	original_xml

std::unordered_map< std::string, joint_limits::JointLimits >	limits

std::unordered_map< std::string, joint_limits::SoftJointLimits >	soft_limits

Detailed Description

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

Member Data Documentation

◆ gpios

std::vector<ComponentInfo> hardware_interface::HardwareInfo::gpios

Vector of GPIOs provided by the hardware. Optional for any hardware components.

◆ joints

std::vector<ComponentInfo> hardware_interface::HardwareInfo::joints

Vector of joints provided by the hardware. Required for Actuator and System Hardware.

◆ limits

std::unordered_map<std::string, joint_limits::JointLimits> hardware_interface::HardwareInfo::limits

The URDF parsed limits of the hardware components joint command interfaces

◆ mimic_joints

std::vector<MimicJoint> hardware_interface::HardwareInfo::mimic_joints

Vector of mimic joints.

◆ original_xml

std::string hardware_interface::HardwareInfo::original_xml

The XML contents prior to parsing

◆ sensors

std::vector<ComponentInfo> hardware_interface::HardwareInfo::sensors

Vector of sensors provided by the hardware. Required for Sensor and optional for System Hardware.

◆ soft_limits

std::unordered_map<std::string, joint_limits::SoftJointLimits> hardware_interface::HardwareInfo::soft_limits

Map of software joint limits used for clamping the command where the key is the joint name. Optional If not specified or less restrictive than the JointLimits uses the previous JointLimits.

◆ transmissions

std::vector<TransmissionInfo> hardware_interface::HardwareInfo::transmissions

Vector of transmissions to calculate ratio between joints and physical actuators. Optional for Actuator and System Hardware.

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

ros2_control/hardware_interface/include/hardware_interface/hardware_info.hpp

Public Attributes