Struct HardwareInfo
Defined in File hardware_info.hpp
Struct Documentation
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struct HardwareInfo
This structure stores information about hardware defined in a robot’s URDF.
Public Members
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std::string name
Name of the hardware.
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std::string type
Type of the hardware: actuator, sensor or system.
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std::string group
Hardware group to which the hardware belongs.
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unsigned int rw_rate
Component’s read and write rates in Hz.
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bool is_async
Component is async.
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std::string hardware_plugin_name
Name of the pluginlib plugin of the hardware that will be loaded.
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std::unordered_map<std::string, std::string> hardware_parameters
(Optional) Key-value pairs for hardware parameters.
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std::vector<ComponentInfo> joints
Vector of joints provided by the hardware. Required for Actuator and System Hardware.
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std::vector<MimicJoint> mimic_joints
Vector of mimic joints.
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std::vector<ComponentInfo> sensors
Vector of sensors provided by the hardware. Required for Sensor and optional for System Hardware.
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std::vector<ComponentInfo> gpios
Vector of GPIOs provided by the hardware. Optional for any hardware components.
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std::vector<TransmissionInfo> transmissions
Vector of transmissions to calculate ratio between joints and physical actuators. Optional for Actuator and System Hardware.
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std::string original_xml
The XML contents prior to parsing
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std::unordered_map<std::string, joint_limits::JointLimits> limits
The URDF parsed limits of the hardware components joint command interfaces
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std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits
Map of software joint limits used for clamping the command where the key is the joint name. Optional If not specified or less restrictive than the JointLimits uses the previous JointLimits.
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std::string name