hardware_interface
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      • Namespaces
        • Namespace @5
        • Namespace hardware_interface
        • Namespace hardware_interface::lifecycle_state_names
        • Namespace mock_components
        • Namespace rclcpp_lifecycle
        • Namespace rclcpp_lifecycle::node_interfaces
      • Classes and Structs
        • Struct ActuatorInfo
        • Struct ComponentInfo
        • Struct ControllerInfo
        • Struct HardwareComponentCycleStatus
        • Struct HardwareComponentInfo
        • Struct HardwareInfo
        • Struct HardwareReadWriteStatus
        • Struct InterfaceDescription
        • Struct InterfaceInfo
        • Struct JointInfo
        • Struct LoanedCommandInterface::HandleRTStatistics
        • Struct LoanedStateInterface::HandleRTStatistics
        • Struct MimicJoint
        • Struct TransmissionInfo
        • Class Actuator
        • Class ActuatorInterface
        • Class AsyncComponentThread
        • Class CommandInterface
        • Class Handle
        • Class HandleDataType
        • Class LoanedCommandInterface
        • Class LoanedStateInterface
        • Class ResourceManager
        • Class Sensor
        • Class SensorInterface
        • Class StateInterface
        • Class System
        • Class SystemInterface
        • Class GenericSystem
      • Enums
        • Enum MimicAttribute
        • Enum return_type
        • Enum TriggerType
      • Functions
        • Function hardware_interface::lifecycleStateThatRequiresNoAction
        • Function hardware_interface::parse_bool
        • Function hardware_interface::parse_command_interface_descriptions(const std::vector<ComponentInfo>&)
        • Function hardware_interface::parse_command_interface_descriptions(const std::vector<ComponentInfo>&, std::unordered_map<std::string, InterfaceDescription>&)
        • Function hardware_interface::parse_control_resources_from_urdf
        • Function hardware_interface::parse_state_interface_descriptions(const std::vector<ComponentInfo>&)
        • Function hardware_interface::parse_state_interface_descriptions(const std::vector<ComponentInfo>&, std::unordered_map<std::string, InterfaceDescription>&)
        • Function hardware_interface::stod
      • Variables
        • Variable hardware_interface::DEFAULT_INTROSPECTION_TOPIC
        • Variable hardware_interface::DEFAULT_REGISTRY_KEY
        • Variable hardware_interface::HW_IF_ACCELERATION
        • Variable hardware_interface::HW_IF_CURRENT
        • Variable hardware_interface::HW_IF_DERIVATIVE_GAIN
        • Variable hardware_interface::HW_IF_EFFORT
        • Variable hardware_interface::HW_IF_FEEDFORWARD
        • Variable hardware_interface::HW_IF_FORCE
        • Variable hardware_interface::HW_IF_INTEGRAL_CLAMP_MAX
        • Variable hardware_interface::HW_IF_INTEGRAL_CLAMP_MIN
        • Variable hardware_interface::HW_IF_INTEGRAL_GAIN
        • Variable hardware_interface::HW_IF_POSITION
        • Variable hardware_interface::HW_IF_PROPORTIONAL_GAIN
        • Variable hardware_interface::HW_IF_TEMPERATURE
        • Variable hardware_interface::HW_IF_TORQUE
        • Variable hardware_interface::HW_IF_VELOCITY
        • Variable hardware_interface::lifecycle_state_names::ACTIVE
        • Variable hardware_interface::lifecycle_state_names::FINALIZED
        • Variable hardware_interface::lifecycle_state_names::INACTIVE
        • Variable hardware_interface::lifecycle_state_names::UNCONFIGURED
        • Variable hardware_interface::lifecycle_state_names::UNKNOWN
        • Variable mock_components::ACCELERATION_INTERFACE_INDEX
        • Variable mock_components::POSITION_INTERFACE_INDEX
        • Variable mock_components::VELOCITY_INTERFACE_INDEX
      • Defines
        • Define CLEAR_ALL_ROS2_CONTROL_INTROSPECTION_REGISTRIES
        • Define DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION
        • Define DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION
        • Define INITIALIZE_ROS2_CONTROL_INTROSPECTION_REGISTRY
        • Define PUBLISH_ROS2_CONTROL_INTROSPECTION_DATA_ASYNC
        • Define REGISTER_ROS2_CONTROL_INTROSPECTION
        • Define START_ROS2_CONTROL_INTROSPECTION_PUBLISHER_THREAD
        • Define THROW_ON_NOT_NULLPTR
        • Define THROW_ON_NULLPTR
        • Define UNREGISTER_ROS2_CONTROL_INTROSPECTION
      • Typedefs
        • Typedef hardware_interface::CallbackReturn
        • Typedef hardware_interface::HANDLE_DATATYPE
        • Typedef mock_components::CallbackReturn
        • Typedef mock_components::GenericRobot
      • Directories
        • Directory include
        • Directory hardware_interface
        • Directory types
        • Directory mock_components
      • Files
        • File actuator.hpp
        • File actuator_interface.hpp
        • File async_components.hpp
        • File component_parser.hpp
        • File controller_info.hpp
        • File generic_system.hpp
        • File handle.hpp
        • File hardware_component_info.hpp
        • File hardware_info.hpp
        • File hardware_interface_return_values.hpp
        • File hardware_interface_type_values.hpp
        • File introspection.hpp
        • File lexical_casts.hpp
        • File lifecycle_helpers.hpp
        • File lifecycle_state_names.hpp
        • File loaned_command_interface.hpp
        • File loaned_state_interface.hpp
        • File macros.hpp
        • File resource_manager.hpp
        • File sensor.hpp
        • File sensor_interface.hpp
        • File system.hpp
        • File system_interface.hpp
        • File trigger_type.hpp
      • Pages
        • Todo List
  • Standard Documents
    • PACKAGE
    • CHANGELOG
      • Changelog for package hardware_interface
        • 4.27.0 (2025-03-01)
        • 4.26.0 (2025-02-07)
        • 4.25.0 (2025-01-29)
        • 4.24.0 (2025-01-13)
        • 4.23.0 (2024-12-29)
        • 4.22.0 (2024-12-20)
        • 4.21.0 (2024-12-06)
        • 4.20.0 (2024-11-08)
        • 4.19.0 (2024-10-26)
        • 4.18.0 (2024-10-07)
        • 4.17.0 (2024-09-11)
        • 4.16.1 (2024-08-24)
        • 4.16.0 (2024-08-22)
        • 4.15.0 (2024-08-05)
        • 4.14.0 (2024-07-23)
        • 4.13.0 (2024-07-08)
        • 4.12.0 (2024-07-01)
        • 4.11.0 (2024-05-14)
        • 4.10.0 (2024-05-08)
        • 4.9.0 (2024-04-30)
        • 4.8.0 (2024-03-27)
        • 4.7.0 (2024-03-22)
        • 4.6.0 (2024-03-02)
        • 4.5.0 (2024-02-12)
        • 4.4.0 (2024-01-31)
        • 4.3.0 (2024-01-20)
        • 4.2.0 (2023-12-12)
        • 4.1.0 (2023-11-30)
        • 4.0.0 (2023-11-21)
        • 3.21.0 (2023-11-06)
        • 3.20.0 (2023-10-31)
        • 3.19.1 (2023-10-04)
        • 3.19.0 (2023-10-03)
        • 3.18.0 (2023-08-17)
        • 3.17.0 (2023-08-07)
        • 3.16.0 (2023-07-09)
        • 3.15.0 (2023-06-23)
        • 3.14.0 (2023-06-14)
        • 3.13.0 (2023-05-18)
        • 3.12.2 (2023-04-29)
        • 3.12.1 (2023-04-14)
        • 3.12.0 (2023-04-02)
        • 3.11.0 (2023-03-22)
        • 3.10.0 (2023-03-16)
        • 3.9.1 (2023-03-09)
        • 3.9.0 (2023-02-28)
        • 3.8.0 (2023-02-10)
        • 3.7.0 (2023-01-24)
        • 3.6.0 (2023-01-12)
        • 3.5.1 (2023-01-06)
        • 3.5.0 (2022-12-06)
        • 3.4.0 (2022-11-27)
        • 3.3.0 (2022-11-15)
        • 3.2.0 (2022-10-15)
        • 3.1.0 (2022-10-05)
        • 3.0.0 (2022-09-19)
        • 2.15.0 (2022-09-19)
        • 2.14.0 (2022-09-04)
        • 2.13.0 (2022-08-03)
        • 2.12.1 (2022-07-14)
        • 2.12.0 (2022-07-09)
        • 2.11.0 (2022-07-03)
        • 2.10.0 (2022-06-18)
        • 2.9.0 (2022-05-19)
        • 2.8.0 (2022-05-13)
        • 2.7.0 (2022-04-29)
        • 2.6.0 (2022-04-20)
        • 2.5.0 (2022-03-25)
        • 2.4.0 (2022-02-23)
        • 2.3.0 (2022-02-18)
        • 2.2.0 (2022-01-24)
        • 2.1.0 (2022-01-11)
        • 2.0.0 (2021-12-29)
        • 1.2.0 (2021-11-05)
        • 1.1.0 (2021-10-25)
        • 1.0.0 (2021-09-29)
        • 0.8.0 (2021-08-28)
        • 0.7.1 (2021-06-15)
        • 0.7.0 (2021-06-06)
        • 0.6.1 (2021-05-31)
        • 0.6.0 (2021-05-23)
        • 0.5.0 (2021-05-03)
        • 0.4.0 (2021-04-07)
        • 0.3.0 (2021-03-21)
        • 0.2.1 (2021-03-02)
        • 0.2.0 (2021-02-26)
        • 0.1.6 (2021-02-05)
        • 0.1.5 (2021-02-04)
        • 0.1.4 (2021-02-03)
        • 0.1.3 (2021-01-21)
        • 0.1.2 (2021-01-06)
        • 0.1.1 (2020-12-23)
        • 0.1.0 (2020-12-22)
    • README
      • Overview
  • Documentation
    • Running Hardware Components Asynchronously
    • Different update rates for Hardware Components
    • Hardware Components
      • Hardware Interface Types
      • Writing a Hardware Component
      • Different Update Rates
      • Asynchronous Execution
      • Semantic Components
    • ros2_control hardware interface types
    • Joint Kinematics for ros2_control
    • Mock Components
    • Semantic Components
    • Writing a Hardware Component
  • Index
hardware_interface
  • hardware_interface
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hardware_interface

Base classes for hardware abstraction and tooling for them

  • Links
    • Rosindex
  • C++ API
    • Page Hierarchy
    • Class Hierarchy
    • File Hierarchy
    • Full C++ API
  • Standard Documents
    • PACKAGE
    • CHANGELOG
    • README
  • Documentation
    • Running Hardware Components Asynchronously
    • Different update rates for Hardware Components
    • Hardware Components
    • ros2_control hardware interface types
    • Joint Kinematics for ros2_control
    • Mock Components
    • Semantic Components
    • Writing a Hardware Component

README

Overview

For detailed information about this package, please see the ros2_control Documentation!

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© Copyright The <hardware_interface> Contributors. License: Apache License 2.0.

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