Struct ComponentInfo

Defined in File hardware_info.hpp

Struct Documentation

struct ComponentInfo

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

Public Members

std::string name: Name of the component.

std::string type: Type of the component: sensor, joint, or GPIO.

MimicAttribute is_mimic = MimicAttribute::NOT_SET : Hold the value of the mimic attribute if given, NOT_SET otherwise.

std::vector<InterfaceInfo> command_interfaces: Name of the command interfaces that can be set, e.g. “position”, “velocity”, etc. Used by joints and GPIOs.

std::vector<InterfaceInfo> state_interfaces: Name of the state interfaces that can be read, e.g. “position”, “velocity”, etc. Used by joints, sensors and GPIOs.

std::unordered_map<std::string, std::string> parameters: (Optional) Key-value pairs of component parameters, e.g. min/max values or serial number.