hardware_interface::InterfaceInfo Struct Reference

#include <hardware_info.hpp>

Public Attributes
std::string	name
std::string	min
	(Optional) Minimal allowed values of the interface.
std::string	max
	(Optional) Maximal allowed values of the interface.
std::string	initial_value
	(Optional) Initial value of the interface.
std::string	data_type
	(Optional) The datatype of the interface, e.g. "bool", "int".
int	size
	(Optional) If the handle is an array, the size of the array.
bool	enable_limits
	(Optional) enable or disable the limits for the command interfaces
std::unordered_map< std::string, std::string >	parameters

Detailed Description

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

Member Data Documentation

name

std::string hardware_interface::InterfaceInfo::name

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

parameters

std::unordered_map<std::string, std::string> hardware_interface::InterfaceInfo::parameters

(Optional) Key-value pairs of command/stateInterface parameters. This is useful for drivers that operate on protocols like modbus, where each interface needs own address(register), datatype, etc.

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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