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.

std::string group

Hardware group to which the hardware belongs.

unsigned int rw_rate

Component’s read and write rates in Hz.

bool is_async

Component is async.

int thread_priority

Async thread priority.

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

std::unordered_map<std::string, joint_limits::JointLimits> limits

The URDF parsed limits of the hardware components joint command interfaces

std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits

Map of software joint limits used for clamping the command where the key is the joint name. Optional If not specified or less restrictive than the JointLimits uses the previous JointLimits.