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.

bool is_async: Component is async.

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: Map of joints provided by the hardware where the key is the joint name. Required for Actuator and System Hardware.

std::vector<ComponentInfo> sensors: Map of sensors provided by the hardware where the key is the joint or link name. Required for Sensor and optional for System Hardware.

std::vector<ComponentInfo> gpios: Map of GPIO provided by the hardware where the key is a descriptive name of the GPIO. Optional for any hardware components.

std::vector<TransmissionInfo> transmissions: Map of transmissions to calculate ration between joints and physical actuators. Optional for Actuator and System Hardware.

std::string original_xml: The XML contents prior to parsing