Struct HardwareComponentParams

Struct Documentation

struct HardwareComponentParams

Parameters required for the initialization of a specific hardware component plugin. Typically used for init, initialise and load methods of hardware components. This struct is typically not accessible to user. This struct is typically populated with data from ResourceManagerParams.

Public Functions

HardwareComponentParams() = 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::Logger logger = rclcpp::get_logger("resource_manager")

A logger instance taken from resource manager.

rclcpp::Clock::SharedPtr clock = nullptr

Shared pointer to the rclcpp::Clock to be used by this hardware component. Typically, this is the same clock used by the ResourceManager/ControllerManager.

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.