State Interfaces Broadcaster

The State Interfaces Broadcaster publishes the state of specified hardware interfaces of double data type. The broadcaster publishes two topics:

• /state_interfaces_broadcaster/names: Publishes the names of the hardware interfaces being monitored with a message type of control_msgs/msg/Keys.

• /state_interfaces_broadcaster/values: Publishes the current state values of the specified hardware interfaces with a message type of control_msgs/msg/Float64Values.

Parameters

This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.

List of parameters

An example parameter file

An example parameter file for this controller can be found in the test directory: