Struct HardwareInfo
Defined in File hardware_info.hpp
Struct Documentation
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struct HardwareInfo
This structure stores information about hardware defined in a robot’s URDF.
Public Members
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std::string name
Name of the hardware.
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std::string type
Type of the hardware: actuator, sensor or system.
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bool is_async
Component is async.
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std::string hardware_plugin_name
Name of the pluginlib plugin of the hardware that will be loaded.
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std::unordered_map<std::string, std::string> hardware_parameters
(Optional) Key-value pairs for hardware parameters.
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std::vector<ComponentInfo> joints
Vector of joints provided by the hardware. Required for Actuator and System Hardware.
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std::vector<MimicJoint> mimic_joints
Vector of mimic joints.
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std::vector<ComponentInfo> sensors
Vector of sensors provided by the hardware. Required for Sensor and optional for System Hardware.
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std::vector<ComponentInfo> gpios
Vector of GPIOs provided by the hardware. Optional for any hardware components.
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std::vector<TransmissionInfo> transmissions
Vector of transmissions to calculate ratio between joints and physical actuators. Optional for Actuator and System Hardware.
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std::string original_xml
The XML contents prior to parsing
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std::string name