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

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

#include <hardware_info.hpp>

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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< ComponentInfojoints
 
std::vector< MimicJointmimic_joints
 
std::vector< ComponentInfosensors
 
std::vector< ComponentInfogpios
 
std::vector< TransmissionInfotransmissions
 
std::string original_xml
 

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.

◆ 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.

◆ 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: