Public Attributes
size_t	n_dof_
	Degrees od freedom.

rclcpp::Time	last_update_sim_time_ros_
	last time the write method was called.

std::vector< struct jointData >	joints_
	vector with the joint's names.

std::vector< hardware_interface::StateInterface >	state_interfaces_
	state interfaces that will be exported to the Resource Manager

std::vector< hardware_interface::CommandInterface >	command_interfaces_
	command interfaces that will be exported to the Resource Manager

sim::EntityComponentManager *	ecm
	Entity component manager, ECM shouldn't be accessed outside those methods, otherwise the app will crash.

unsigned int	update_rate
	controller update rate

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

Public Attributes