Semantic Components
In order to streamline the configuration of commonly used hardware interface, so-called semantic components can be used to wrap mechanisms to claim / release the interfaces. The base components semantic_components::SemanticComponentInterface
and semantic_components::SemanticComponentCommandInterface
are used to define semantic components for read-only and write-only devices, respectively.
List of existing SemanticComponentInterface
(link to header file) and associated broadcaster, if any:
IMUSensor, used by IMU Sensor Broadcaster
ForceTorqueSensor, used by Force Torque Sensor Broadcaster
PoseSensor, used by Pose Broadcaster
RangeSensor, used by Range Sensor Broadcaster
List of existing SemanticComponentCommandInterface
(link to header file) and associated controller, if any: