hardware_interface
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Class Hierarchy
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Full C++ API
Namespaces
Namespace @5
Namespace hardware_interface
Namespace hardware_interface::lifecycle_state_names
Namespace mock_components
Namespace pal_statistics
Namespace rclcpp_lifecycle
Namespace rclcpp_lifecycle::node_interfaces
Namespace ros2_control
Classes and Structs
Struct ActuatorInfo
Struct ComponentInfo
Struct ControllerInfo
Struct HardwareAsyncParams
Struct HardwareComponentCycleStatus
Struct HardwareComponentInfo
Struct HardwareComponentInterfaceParams
Struct HardwareComponentParams
Struct HardwareComponentStatisticsCollector
Struct HardwareComponentStatisticsData
Struct HardwareInfo
Struct HardwareReadWriteStatus
Struct InterfaceDescription
Struct InterfaceInfo
Struct JointInfo
Struct LoanedCommandInterface::HandleRTStatistics
Struct LoanedStateInterface::HandleRTStatistics
Struct MimicJoint
Struct ResourceManagerParams
Struct TransmissionInfo
Class ActuatorInterface
Class AsyncComponentThread
Class CommandInterface
Class Handle
Class HandleDataType
Class HardwareComponent
Class HardwareComponentInterface
Class LoanedCommandInterface
Class LoanedStateInterface
Class ResourceManager
Class SensorInterface
Class StateInterface
Class SystemInterface
Class GenericSystem
Class MovingAverageStatistics
Class MovingAverageStatisticsData
Enums
Enum MimicAttribute
Enum return_type
Enum TriggerType
Functions
Function hardware_interface::lifecycleStateThatRequiresNoAction
Template Function hardware_interface::parse_array
Function hardware_interface::parse_bool
Function hardware_interface::parse_command_interface_descriptions(const std::vector<ComponentInfo>&)
Function hardware_interface::parse_command_interface_descriptions(const std::vector<ComponentInfo>&, std::unordered_map<std::string, InterfaceDescription>&)
Function hardware_interface::parse_control_resources_from_urdf
Function hardware_interface::parse_state_interface_descriptions(const std::vector<ComponentInfo>&)
Function hardware_interface::parse_state_interface_descriptions(const std::vector<ComponentInfo>&, std::unordered_map<std::string, InterfaceDescription>&)
Function hardware_interface::parse_string_array
Function hardware_interface::stod
Function hardware_interface::stof
Function hardware_interface::stoi16
Function hardware_interface::stoi32
Function hardware_interface::stoi8
Template Function hardware_interface::stoi_generic
Function hardware_interface::stoui16
Function hardware_interface::stoui32
Function hardware_interface::stoui8
Template Function hardware_interface::stoui_generic
Function hardware_interface::to_lower_case
Specialized Template Function pal_statistics::customRegister
Template Function ros2_control::add_item
Template Function ros2_control::add_items
Template Function ros2_control::get_item_iterator
Template Function ros2_control::has_all_items(const Container&, const std::vector<typename Container::key_type>&)
Template Function ros2_control::has_all_items(const std::vector<T>&, const std::vector<T>&)
Template Function ros2_control::has_any_item(const Container&, const std::vector<typename Container::key_type>&)
Template Function ros2_control::has_any_item(const std::vector<T>&, const std::vector<T>&)
Template Function ros2_control::has_item
Template Function ros2_control::is_unique
Template Function ros2_control::remove_item
Function ros2_control::strip
Variables
Variable hardware_interface::CM_STATISTICS_KEY
Variable hardware_interface::CM_STATISTICS_TOPIC
Variable hardware_interface::DEFAULT_INTROSPECTION_TOPIC
Variable hardware_interface::DEFAULT_REGISTRY_KEY
Variable hardware_interface::HW_IF_ACCELERATION
Variable hardware_interface::HW_IF_CURRENT
Variable hardware_interface::HW_IF_DERIVATIVE_GAIN
Variable hardware_interface::HW_IF_EFFORT
Variable hardware_interface::HW_IF_FEEDFORWARD
Variable hardware_interface::HW_IF_FORCE
Variable hardware_interface::HW_IF_INTEGRAL_CLAMP_MAX
Variable hardware_interface::HW_IF_INTEGRAL_CLAMP_MIN
Variable hardware_interface::HW_IF_INTEGRAL_GAIN
Variable hardware_interface::HW_IF_POSITION
Variable hardware_interface::HW_IF_PROPORTIONAL_GAIN
Variable hardware_interface::HW_IF_TEMPERATURE
Variable hardware_interface::HW_IF_TORQUE
Variable hardware_interface::HW_IF_VELOCITY
Variable hardware_interface::lifecycle_state_names::ACTIVE
Variable hardware_interface::lifecycle_state_names::FINALIZED
Variable hardware_interface::lifecycle_state_names::INACTIVE
Variable hardware_interface::lifecycle_state_names::UNCONFIGURED
Variable hardware_interface::lifecycle_state_names::UNKNOWN
Variable mock_components::ACCELERATION_INTERFACE_INDEX
Variable mock_components::POSITION_INTERFACE_INDEX
Variable mock_components::VELOCITY_INTERFACE_INDEX
Defines
Define CLEAR_ALL_ROS2_CONTROL_INTROSPECTION_REGISTRIES
Define DEFAULT_MUTEX
Define DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION
Define DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION
Define INITIALIZE_ROS2_CONTROL_INTROSPECTION_REGISTRY
Define PUBLISH_ROS2_CONTROL_INTROSPECTION_DATA_ASYNC
Define REGISTER_ROS2_CONTROL_INTROSPECTION
Define START_ROS2_CONTROL_INTROSPECTION_PUBLISHER_THREAD
Define THROW_ON_NOT_NULLPTR
Define THROW_ON_NULLPTR
Define UNREGISTER_ROS2_CONTROL_INTROSPECTION
Typedefs
Typedef hardware_interface::Actuator
Typedef hardware_interface::CallbackReturn
Typedef hardware_interface::HANDLE_DATATYPE
Typedef hardware_interface::Sensor
Typedef hardware_interface::System
Typedef mock_components::CallbackReturn
Typedef mock_components::GenericRobot
Directories
Directory include
Directory hardware_interface
Directory types
Directory mock_components
Files
File actuator.hpp
File actuator_interface.hpp
File async_components.hpp
File component_parser.hpp
File controller_info.hpp
File generic_system.hpp
File handle.hpp
File hardware_component.hpp
File hardware_component_info.hpp
File hardware_component_interface.hpp
File hardware_component_interface_params.hpp
File hardware_component_params.hpp
File hardware_info.hpp
File hardware_interface_return_values.hpp
File hardware_interface_type_values.hpp
File helpers.hpp
File introspection.hpp
File lexical_casts.hpp
File lifecycle_helpers.hpp
File lifecycle_state_names.hpp
File loaned_command_interface.hpp
File loaned_state_interface.hpp
File macros.hpp
File resource_manager.hpp
File resource_manager_params.hpp
File sensor.hpp
File sensor_interface.hpp
File statistics_types.hpp
File system.hpp
File system_interface.hpp
File trigger_type.hpp
Pages
Todo List
Standard Documents
README
Overview
CHANGELOG
Changelog for package hardware_interface
4.43.0 (2026-02-03)
4.42.2 (2026-01-10)
4.42.1 (2025-12-30)
4.42.0 (2025-12-29)
4.41.0 (2025-12-10)
4.40.0 (2025-12-01)
4.39.2 (2025-11-09)
4.39.1 (2025-11-03)
4.39.0 (2025-10-27)
4.38.0 (2025-10-03)
4.37.0 (2025-09-12)
4.36.0 (2025-08-26)
4.35.0 (2025-07-31)
4.34.0 (2025-07-21)
4.33.0 (2025-07-02)
4.32.0 (2025-06-06)
4.31.0 (2025-05-24)
4.30.0 (2025-05-21)
4.29.0 (2025-05-04)
4.28.1 (2025-04-17)
4.28.0 (2025-04-10)
4.27.0 (2025-03-01)
4.26.0 (2025-02-07)
4.25.0 (2025-01-29)
4.24.0 (2025-01-13)
4.23.0 (2024-12-29)
4.22.0 (2024-12-20)
4.21.0 (2024-12-06)
4.20.0 (2024-11-08)
4.19.0 (2024-10-26)
4.18.0 (2024-10-07)
4.17.0 (2024-09-11)
4.16.1 (2024-08-24)
4.16.0 (2024-08-22)
4.15.0 (2024-08-05)
4.14.0 (2024-07-23)
4.13.0 (2024-07-08)
4.12.0 (2024-07-01)
4.11.0 (2024-05-14)
4.10.0 (2024-05-08)
4.9.0 (2024-04-30)
4.8.0 (2024-03-27)
4.7.0 (2024-03-22)
4.6.0 (2024-03-02)
4.5.0 (2024-02-12)
4.4.0 (2024-01-31)
4.3.0 (2024-01-20)
4.2.0 (2023-12-12)
4.1.0 (2023-11-30)
4.0.0 (2023-11-21)
3.21.0 (2023-11-06)
3.20.0 (2023-10-31)
3.19.1 (2023-10-04)
3.19.0 (2023-10-03)
3.18.0 (2023-08-17)
3.17.0 (2023-08-07)
3.16.0 (2023-07-09)
3.15.0 (2023-06-23)
3.14.0 (2023-06-14)
3.13.0 (2023-05-18)
3.12.2 (2023-04-29)
3.12.1 (2023-04-14)
3.12.0 (2023-04-02)
3.11.0 (2023-03-22)
3.10.0 (2023-03-16)
3.9.1 (2023-03-09)
3.9.0 (2023-02-28)
3.8.0 (2023-02-10)
3.7.0 (2023-01-24)
3.6.0 (2023-01-12)
3.5.1 (2023-01-06)
3.5.0 (2022-12-06)
3.4.0 (2022-11-27)
3.3.0 (2022-11-15)
3.2.0 (2022-10-15)
3.1.0 (2022-10-05)
3.0.0 (2022-09-19)
2.15.0 (2022-09-19)
2.14.0 (2022-09-04)
2.13.0 (2022-08-03)
2.12.1 (2022-07-14)
2.12.0 (2022-07-09)
2.11.0 (2022-07-03)
2.10.0 (2022-06-18)
2.9.0 (2022-05-19)
2.8.0 (2022-05-13)
2.7.0 (2022-04-29)
2.6.0 (2022-04-20)
2.5.0 (2022-03-25)
2.4.0 (2022-02-23)
2.3.0 (2022-02-18)
2.2.0 (2022-01-24)
2.1.0 (2022-01-11)
2.0.0 (2021-12-29)
1.2.0 (2021-11-05)
1.1.0 (2021-10-25)
1.0.0 (2021-09-29)
0.8.0 (2021-08-28)
0.7.1 (2021-06-15)
0.7.0 (2021-06-06)
0.6.1 (2021-05-31)
0.6.0 (2021-05-23)
0.5.0 (2021-05-03)
0.4.0 (2021-04-07)
0.3.0 (2021-03-21)
0.2.1 (2021-03-02)
0.2.0 (2021-02-26)
0.1.6 (2021-02-05)
0.1.5 (2021-02-04)
0.1.4 (2021-02-03)
0.1.3 (2021-01-21)
0.1.2 (2021-01-06)
0.1.1 (2020-12-23)
0.1.0 (2020-12-22)
PACKAGE
Documentation
Running Hardware Components Asynchronously
Different update rates for Hardware Components
Hardware Components
Hardware Interface Types
Writing a Hardware Component
Different Update Rates
Asynchronous Execution
Semantic Components
ros2_control
hardware interface types
Joint Limiting for ros2_control
Joint Kinematics for ros2_control
Mock Components
Semantic Components
Writing a Hardware Component
Index
hardware_interface
C++ API
Typedef hardware_interface::Actuator
View page source
Typedef hardware_interface::Actuator
Defined in
File actuator.hpp
Typedef Documentation
using
hardware_interface
::
Actuator
=
HardwareComponent