hardware_interface::ResourceManagerParams Struct Reference

Parameters required for the construction and initial setup of a ResourceManager. This struct is typically populated by the ControllerManager. More...

#include <resource_manager_params.hpp>

Public Attributes
std::string	robot_description = ""
	The URDF string describing the robot's hardware components. Can be empty if ResourceManager is constructed without an initial URDF and components are loaded later or via other means.
rclcpp::Clock::SharedPtr	clock = nullptr
	Shared pointer to the Clock used by the ResourceManager. This is typically obtained from the node via get_clock().
rclcpp::Logger	logger = rclcpp::get_logger("resource_manager")
	Logger instance used by the ResourceManager. This is typically obtained from the node via get_logger().
std::string	node_namespace = ""
	The namespace used by the ResourceManager and its components. This is typically same as the controller manager's node namespace.
rclcpp::Executor::SharedPtr	executor = nullptr
	Shared pointer to the rclcpp::Executor instance that the ResourceManager and its components (including plugins that opt-in) will use. This is typically the ControllerManager's main executor.
bool	activate_all = false
	Flag indicating if all hardware components found in the URDF should be automatically activated after successful loading and initialization.
bool	allow_controller_activation_with_inactive_hardware = false
	If true, controllers are allowed to claim resources from inactive hardware components. If false, controllers can only claim resources from active hardware components. Moreover, when the hardware component returns DEACTIVATE on read/write cycle: If set to true, the controllers using those interfaces will continue to run. If set to false, the controllers using those interfaces will be deactivated.
bool	return_failed_hardware_names_on_return_deactivate_write_cycle_ = true
	If true, when a hardware component returns DEACTIVATE on the write cycle, its name will be included in the returned HardwareReadWriteStatus.failed_hardware_names list. If false, the names of such hardware components will not be included in that list. This can be useful when controllers are allowed to operate with inactive hardware components.
unsigned int	update_rate = 100
	The update rate (in Hz) of the ControllerManager. This can be used by ResourceManager to configure asynchronous hardware components or for other timing considerations.

Detailed Description

Parameters required for the construction and initial setup of a ResourceManager. This struct is typically populated by the ControllerManager.

Member Data Documentation

allow_controller_activation_with_inactive_hardware

bool hardware_interface::ResourceManagerParams::allow_controller_activation_with_inactive_hardware = false

If true, controllers are allowed to claim resources from inactive hardware components. If false, controllers can only claim resources from active hardware components. Moreover, when the hardware component returns DEACTIVATE on read/write cycle: If set to true, the controllers using those interfaces will continue to run. If set to false, the controllers using those interfaces will be deactivated.

Warning

Allowing control with inactive hardware is not recommended for safety reasons. Use with caution only if you really know what you are doing.

Note

This parameter might be deprecated or removed in the future releases. Please use with caution.

return_failed_hardware_names_on_return_deactivate_write_cycle_

bool hardware_interface::ResourceManagerParams::return_failed_hardware_names_on_return_deactivate_write_cycle_ = true

If true, when a hardware component returns DEACTIVATE on the write cycle, its name will be included in the returned HardwareReadWriteStatus.failed_hardware_names list. If false, the names of such hardware components will not be included in that list. This can be useful when controllers are allowed to operate with inactive hardware components.

Note

This parameter might be deprecated or removed in future releases. Please use with caution.

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

• ros2_control/hardware_interface/include/hardware_interface/types/resource_manager_params.hpp