- Class qb_device_hardware_interface::qbDeviceHWInterfaces
- Actually qbrobotics devices are controllable both in position and in current (effort), but the
hardware_interface::EffortJointInterface is not yet planned to be implemented.
- Class qb_device_hardware_interface::qbDeviceHWResources
- Actually the soft limits are not yet supported.
- Class qb_device_joint_limits_interface::qbDeviceJointLimitsResources
- Add soft limits support.
- Member qb_device_joint_limits_interface::qbDeviceJointLimitsResources::initialize (ros::NodeHandle &robot_hw_nh, qb_device_hardware_interface::qbDeviceHWResources &joints, const urdf::Model &urdf_model, hardware_interface::PositionJointInterface &joint_position)
- Add soft limits support.
- Member qb_device_transmission_interface::qbDeviceTransmissionResources::initialize (const std::string &transmission_name, qb_device_hardware_interface::qbDeviceHWResources &actuators, qb_device_hardware_interface::qbDeviceHWResources &joints)
- Actually qbrobotics devices are controllable both in position and in current (effort), but the joint effort to actuator effort interface is not yet planned to be implemented.