Struct ControllerInterfaceParams

• Defined in File controller_interface_params.hpp

Struct Documentation

struct ControllerInterfaceParams

Public Functions

ControllerInterfaceParams() = default

Public Members

std::string controller_name = ""

std::string robot_description = ""

unsigned int update_rate = 0

std::string node_namespace = ""

rclcpp::NodeOptions node_options = rclcpp::NodeOptions()

std::unordered_map<std::string, joint_limits::JointLimits> hard_joint_limits = {}

std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_joint_limits = {}