Struct HardwareComponentInterfaceParams

Defined in File hardware_component_interface_params.hpp

Struct Documentation

struct HardwareComponentInterfaceParams

Parameters required for the initialization of a specific hardware component plugin. Typically used for on_init methods of hardware interfaces, and is parsed by the user. This struct is typically populated with data from HardwareComponentParams from each component.

Public Functions

HardwareComponentInterfaceParams() = default

Public Members

hardware_interface::HardwareInfo hardware_info: Reference to the HardwareInfo struct for this specific component, parsed from the URDF. The HardwareInfo object’s lifetime must be guaranteed by the caller (e.g., ResourceManager) for the duration this struct is used.

rclcpp::Executor::WeakPtr executor: Weak pointer to the rclcpp::Executor instance. Hardware components can use this (after locking) to add their own internal ROS 2 nodes to the ControllerManager’s executor.