Todo List

Class hardware_interface::ActuatorInterface

Implement

• https://github.com/ros-controls/ros2_control/issues/931

• https://github.com/ros-controls/roadmap/pull/51/files

• this means in INACTIVE state:

  • States can be read and non-movement hardware interfaces commanded.

  • Hardware interfaces for movement will NOT be available.

  • Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

Class hardware_interface::SystemInterface

Implement

• https://github.com/ros-controls/ros2_control/issues/931

• https://github.com/ros-controls/roadmap/pull/51/files

• this means in INACTIVE state:

  • States can be read and non-movement hardware interfaces commanded.

  • Hardware interfaces for movement will NOT be available.

  • Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.