Struct HardwareInfo

• Defined in File hardware_info.hpp

Struct Documentation

struct HardwareInfo

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

Public Members

std::string name

Name of the hardware.

std::string type

Type of the hardware: actuator, sensor or system.

bool is_async

Component is async.

std::string hardware_plugin_name

Name of the pluginlib plugin of the hardware that will be loaded.

std::unordered_map<std::string, std::string> hardware_parameters

(Optional) Key-value pairs for hardware parameters.

std::vector<ComponentInfo> joints

Vector of joints provided by the hardware. Required for Actuator and System Hardware.

std::vector<MimicJoint> mimic_joints

Vector of mimic joints.

std::vector<ComponentInfo> sensors

Vector of sensors provided by the hardware. Required for Sensor and optional for System Hardware.

std::vector<ComponentInfo> gpios

Vector of GPIOs provided by the hardware. Optional for any hardware components.

std::vector<TransmissionInfo> transmissions

Vector of transmissions to calculate ratio between joints and physical actuators. Optional for Actuator and System Hardware.

std::string original_xml

The XML contents prior to parsing