ROS2 Control
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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. | |
bool | is_async |
Component is async. | |
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< ComponentInfo > | sensors |
std::vector< ComponentInfo > | gpios |
std::vector< TransmissionInfo > | transmissions |
std::string | original_xml |
This structure stores information about hardware defined in a robot's URDF.
std::vector<ComponentInfo> hardware_interface::HardwareInfo::gpios |
Map of GPIO provided by the hardware where the key is a descriptive name of the GPIO. Optional for any hardware components.
std::vector<ComponentInfo> hardware_interface::HardwareInfo::joints |
std::string hardware_interface::HardwareInfo::original_xml |
The XML contents prior to parsing
std::vector<ComponentInfo> hardware_interface::HardwareInfo::sensors |
std::vector<TransmissionInfo> hardware_interface::HardwareInfo::transmissions |