ROS Index
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.51.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
2.51.0 (2025-06-06)
2.50.0 (2025-04-10)
- Bump version of pre-commit hooks (backport #2156) (#2157)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (backport #2138) (#2145)
- Contributors: mergify[bot]
2.49.0 (2025-03-18)
2.48.0 (2025-02-07)
- Handle SIGINT properly in the controller manager (backport #2014) (#2040)
- [Doc] Fix broken link (backport #2034) (#2035)
- Contributors: mergify[bot]
2.47.0 (2024-12-31)
- Fix the lock_guard placement (#1960)
- Update initial_value parameters of generic_system tests (#1943)
- Contributors: Sai Kishor Kothakota, Sanjeev
2.46.0 (2024-12-16)
- generate version.h file per package using the ament_generate_version_header (backport #1449) (#1938)
- [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) (#1924)
- [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (backport #1805) (#1894)
- Contributors: mergify[bot]
2.45.0 (2024-12-03)
2.44.0 (2024-11-09)
- Add few warning compiler options to error (backport #1181) (#1816)
- Add -Wconversion flag to protect future developments (#1053) (#1815)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1599)
- Contributors: mergify[bot]
2.43.1 (2024-09-11)
2.43.0 (2024-08-22)
2.42.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1581)
- Update joints_userdoc.rst (#1604)
- Fix link to gazebosim.org (#1563) (#1564)
- Add doc page about joint kinematics (#1497) (#1559)
- Bump version of pre-commit hooks (backport #1556) (#1557)
- Contributors: Christoph Fröhlich, mergify[bot]
2.41.0 (2024-04-30)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gen_version_h | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 4.32.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-06-07 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Base classes for hardware abstraction and tooling for them
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
4.32.0 (2025-06-06)
- also use std::mutex on macOS (#2313) (#2315)
- Use std::mutex on windows (#2311) (#2312)
- Contributors: mergify[bot]
4.31.0 (2025-05-24)
- [RM] Isolate start and stop interfaces for each Hardware Component (backport #2120) (#2273)
- Add [data_type]{.title-ref} field to the HardwareInterfaces message (backport #2204) (#2232)
- Add new [Handle]{.title-ref} constructor for easier initialization (#2253) (#2270)
- Use target_link_libraries instead of ament_target_dependencies (#2266) (#2271)
- Read [data_type]{.title-ref} for all types of interfaces (#2235) (#2261)
- Contributors: mergify[bot]
4.30.0 (2025-05-21)
- Statically allocate string concatenations using FMT formatting (#2205) (#2249)
- Suppress the deprecation warnings of the hardware_interface API (#2223) (#2247)
- Contributors: mergify[bot]
4.29.0 (2025-05-04)
- [Diagnostics] Add diagnostics of execution time and periodicity of the hardware components (#2086)
- Add common reusable helper methods header (#2099)
- Contributors: Sai Kishor Kothakota
4.28.1 (2025-04-17)
- Avoid running joint limit enforcement during initialization (#2188)
- Use previous command to enforce the joint limits on position interfaces (#2183)
- Add log info for the type of joint limits being used (#2186)
- Fix the joint limits enforcement with [position]{.title-ref} and [velocity]{.title-ref} (#2182)
- Only log limiting error if something is limited. (#2176)
- Contributors: Felix Exner (fexner), Sai Kishor Kothakota
4.28.0 (2025-04-10)
- [HW Interface] Use new handle API inside the hardware components (#2092)
- Integrate joint limit enforcement into [ros2_control]{.title-ref} framework functional with Async controllers and components (#2047)
- Make all packages use gmock, not gtest (#2162)
- Bump version of pre-commit hooks (#2156)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (#2138)
- Use ros2_control_cmake (#2134)
- [Handle] Add support for booleans in the handles (#2065)
- Docs: Remove link to gazebo_ros2_control (#2106)
- Improve package descriptions & update maintainers (#2103)
- Use monotonic clock for triggering read-update-write cycles + fix for overruns (#2046)
- [RM] Fix skipped cycles by adjusting [rw_rate]{.title-ref} handling (#2091)
- [CM] Add controller_manager activity topic (#2006)
- Improve API/lifecycle docs (#2081)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| fmt |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 5.2.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-07 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Base classes for hardware abstraction and tooling for them
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
5.2.0 (2025-06-07)
- hardware_interface: optimise & rename find_common_hardware_interfaces (#2294)
- also use std::mutex on macOS (#2313)
- Use std::mutex on windows (#2311)
- Contributors: Christoph Fröhlich, Daisuke Nishimatsu, Eldgar
5.1.0 (2025-05-24)
- [RM] Isolate start and stop interfaces for each Hardware Component (#2120)
- Use target_link_libraries instead of ament_target_dependencies (#2266)
- Add new [Handle]{.title-ref} constructor for easier initialization (#2253)
- Cleanup deprecations in [ros_control]{.title-ref} (#2258)
- Read [data_type]{.title-ref} for all types of interfaces (#2235)
- Contributors: Sai Kishor Kothakota
5.0.0 (2025-05-21)
- Statically allocate string concatenations using FMT formatting (#2205)
- Suppress the deprecation warnings of the hardware_interface API (#2223)
- Add [data_type]{.title-ref} field to the HardwareInterfaces message (#2204)
- Contributors: Sai Kishor Kothakota, mini-1235
4.29.0 (2025-05-04)
- [Diagnostics] Add diagnostics of execution time and periodicity of the hardware components (#2086)
- Add common reusable helper methods header (#2099)
- Contributors: Sai Kishor Kothakota
4.28.1 (2025-04-17)
- Avoid running joint limit enforcement during initialization (#2188)
- Use previous command to enforce the joint limits on position interfaces (#2183)
- Add log info for the type of joint limits being used (#2186)
- Fix the joint limits enforcement with [position]{.title-ref} and [velocity]{.title-ref} (#2182)
- Only log limiting error if something is limited. (#2176)
- Contributors: Felix Exner (fexner), Sai Kishor Kothakota
4.28.0 (2025-04-10)
- [HW Interface] Use new handle API inside the hardware components (#2092)
- Integrate joint limit enforcement into [ros2_control]{.title-ref} framework functional with Async controllers and components (#2047)
- Make all packages use gmock, not gtest (#2162)
- Bump version of pre-commit hooks (#2156)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (#2138)
- Use ros2_control_cmake (#2134)
- [Handle] Add support for booleans in the handles (#2065)
- Docs: Remove link to gazebo_ros2_control (#2106)
- Improve package descriptions & update maintainers (#2103)
- Use monotonic clock for triggering read-update-write cycles + fix for overruns (#2046)
- [RM] Fix skipped cycles by adjusting [rw_rate]{.title-ref} handling (#2091)
- [CM] Add controller_manager activity topic (#2006)
- Improve API/lifecycle docs (#2081)
- Contributors: Bence Magyar, Christoph Fröhlich, Mehul Anand, RobertWilbrandt, Sai Kishor Kothakota, Soham Patil, github-actions[bot]
4.27.0 (2025-03-01)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| fmt |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 5.2.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-07 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Base classes for hardware abstraction and tooling for them
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
5.2.0 (2025-06-07)
- hardware_interface: optimise & rename find_common_hardware_interfaces (#2294)
- also use std::mutex on macOS (#2313)
- Use std::mutex on windows (#2311)
- Contributors: Christoph Fröhlich, Daisuke Nishimatsu, Eldgar
5.1.0 (2025-05-24)
- [RM] Isolate start and stop interfaces for each Hardware Component (#2120)
- Use target_link_libraries instead of ament_target_dependencies (#2266)
- Add new [Handle]{.title-ref} constructor for easier initialization (#2253)
- Cleanup deprecations in [ros_control]{.title-ref} (#2258)
- Read [data_type]{.title-ref} for all types of interfaces (#2235)
- Contributors: Sai Kishor Kothakota
5.0.0 (2025-05-21)
- Statically allocate string concatenations using FMT formatting (#2205)
- Suppress the deprecation warnings of the hardware_interface API (#2223)
- Add [data_type]{.title-ref} field to the HardwareInterfaces message (#2204)
- Contributors: Sai Kishor Kothakota, mini-1235
4.29.0 (2025-05-04)
- [Diagnostics] Add diagnostics of execution time and periodicity of the hardware components (#2086)
- Add common reusable helper methods header (#2099)
- Contributors: Sai Kishor Kothakota
4.28.1 (2025-04-17)
- Avoid running joint limit enforcement during initialization (#2188)
- Use previous command to enforce the joint limits on position interfaces (#2183)
- Add log info for the type of joint limits being used (#2186)
- Fix the joint limits enforcement with [position]{.title-ref} and [velocity]{.title-ref} (#2182)
- Only log limiting error if something is limited. (#2176)
- Contributors: Felix Exner (fexner), Sai Kishor Kothakota
4.28.0 (2025-04-10)
- [HW Interface] Use new handle API inside the hardware components (#2092)
- Integrate joint limit enforcement into [ros2_control]{.title-ref} framework functional with Async controllers and components (#2047)
- Make all packages use gmock, not gtest (#2162)
- Bump version of pre-commit hooks (#2156)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (#2138)
- Use ros2_control_cmake (#2134)
- [Handle] Add support for booleans in the handles (#2065)
- Docs: Remove link to gazebo_ros2_control (#2106)
- Improve package descriptions & update maintainers (#2103)
- Use monotonic clock for triggering read-update-write cycles + fix for overruns (#2046)
- [RM] Fix skipped cycles by adjusting [rw_rate]{.title-ref} handling (#2091)
- [CM] Add controller_manager activity topic (#2006)
- Improve API/lifecycle docs (#2081)
- Contributors: Bence Magyar, Christoph Fröhlich, Mehul Anand, RobertWilbrandt, Sai Kishor Kothakota, Soham Patil, github-actions[bot]
4.27.0 (2025-03-01)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| fmt |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.51.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
2.51.0 (2025-06-06)
2.50.0 (2025-04-10)
- Bump version of pre-commit hooks (backport #2156) (#2157)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (backport #2138) (#2145)
- Contributors: mergify[bot]
2.49.0 (2025-03-18)
2.48.0 (2025-02-07)
- Handle SIGINT properly in the controller manager (backport #2014) (#2040)
- [Doc] Fix broken link (backport #2034) (#2035)
- Contributors: mergify[bot]
2.47.0 (2024-12-31)
- Fix the lock_guard placement (#1960)
- Update initial_value parameters of generic_system tests (#1943)
- Contributors: Sai Kishor Kothakota, Sanjeev
2.46.0 (2024-12-16)
- generate version.h file per package using the ament_generate_version_header (backport #1449) (#1938)
- [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) (#1924)
- [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (backport #1805) (#1894)
- Contributors: mergify[bot]
2.45.0 (2024-12-03)
2.44.0 (2024-11-09)
- Add few warning compiler options to error (backport #1181) (#1816)
- Add -Wconversion flag to protect future developments (#1053) (#1815)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1599)
- Contributors: mergify[bot]
2.43.1 (2024-09-11)
2.43.0 (2024-08-22)
2.42.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1581)
- Update joints_userdoc.rst (#1604)
- Fix link to gazebosim.org (#1563) (#1564)
- Add doc page about joint kinematics (#1497) (#1559)
- Bump version of pre-commit hooks (backport #1556) (#1557)
- Contributors: Christoph Fröhlich, mergify[bot]
2.41.0 (2024-04-30)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gen_version_h | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.51.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
2.51.0 (2025-06-06)
2.50.0 (2025-04-10)
- Bump version of pre-commit hooks (backport #2156) (#2157)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (backport #2138) (#2145)
- Contributors: mergify[bot]
2.49.0 (2025-03-18)
2.48.0 (2025-02-07)
- Handle SIGINT properly in the controller manager (backport #2014) (#2040)
- [Doc] Fix broken link (backport #2034) (#2035)
- Contributors: mergify[bot]
2.47.0 (2024-12-31)
- Fix the lock_guard placement (#1960)
- Update initial_value parameters of generic_system tests (#1943)
- Contributors: Sai Kishor Kothakota, Sanjeev
2.46.0 (2024-12-16)
- generate version.h file per package using the ament_generate_version_header (backport #1449) (#1938)
- [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) (#1924)
- [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (backport #1805) (#1894)
- Contributors: mergify[bot]
2.45.0 (2024-12-03)
2.44.0 (2024-11-09)
- Add few warning compiler options to error (backport #1181) (#1816)
- Add -Wconversion flag to protect future developments (#1053) (#1815)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1599)
- Contributors: mergify[bot]
2.43.1 (2024-09-11)
2.43.0 (2024-08-22)
2.42.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1581)
- Update joints_userdoc.rst (#1604)
- Fix link to gazebosim.org (#1563) (#1564)
- Add doc page about joint kinematics (#1497) (#1559)
- Bump version of pre-commit hooks (backport #1556) (#1557)
- Contributors: Christoph Fröhlich, mergify[bot]
2.41.0 (2024-04-30)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gen_version_h | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.51.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
2.51.0 (2025-06-06)
2.50.0 (2025-04-10)
- Bump version of pre-commit hooks (backport #2156) (#2157)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (backport #2138) (#2145)
- Contributors: mergify[bot]
2.49.0 (2025-03-18)
2.48.0 (2025-02-07)
- Handle SIGINT properly in the controller manager (backport #2014) (#2040)
- [Doc] Fix broken link (backport #2034) (#2035)
- Contributors: mergify[bot]
2.47.0 (2024-12-31)
- Fix the lock_guard placement (#1960)
- Update initial_value parameters of generic_system tests (#1943)
- Contributors: Sai Kishor Kothakota, Sanjeev
2.46.0 (2024-12-16)
- generate version.h file per package using the ament_generate_version_header (backport #1449) (#1938)
- [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) (#1924)
- [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (backport #1805) (#1894)
- Contributors: mergify[bot]
2.45.0 (2024-12-03)
2.44.0 (2024-11-09)
- Add few warning compiler options to error (backport #1181) (#1816)
- Add -Wconversion flag to protect future developments (#1053) (#1815)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1599)
- Contributors: mergify[bot]
2.43.1 (2024-09-11)
2.43.0 (2024-08-22)
2.42.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1581)
- Update joints_userdoc.rst (#1604)
- Fix link to gazebosim.org (#1563) (#1564)
- Add doc page about joint kinematics (#1497) (#1559)
- Bump version of pre-commit hooks (backport #1556) (#1557)
- Contributors: Christoph Fröhlich, mergify[bot]
2.41.0 (2024-04-30)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gen_version_h | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.51.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
2.51.0 (2025-06-06)
2.50.0 (2025-04-10)
- Bump version of pre-commit hooks (backport #2156) (#2157)
- [RM] Add error handling for missing [plugin]{.title-ref} tags in URDF parsing (backport #2138) (#2145)
- Contributors: mergify[bot]
2.49.0 (2025-03-18)
2.48.0 (2025-02-07)
- Handle SIGINT properly in the controller manager (backport #2014) (#2040)
- [Doc] Fix broken link (backport #2034) (#2035)
- Contributors: mergify[bot]
2.47.0 (2024-12-31)
- Fix the lock_guard placement (#1960)
- Update initial_value parameters of generic_system tests (#1943)
- Contributors: Sai Kishor Kothakota, Sanjeev
2.46.0 (2024-12-16)
- generate version.h file per package using the ament_generate_version_header (backport #1449) (#1938)
- [CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910) (#1924)
- [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (backport #1805) (#1894)
- Contributors: mergify[bot]
2.45.0 (2024-12-03)
2.44.0 (2024-11-09)
- Add few warning compiler options to error (backport #1181) (#1816)
- Add -Wconversion flag to protect future developments (#1053) (#1815)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1599)
- Contributors: mergify[bot]
2.43.1 (2024-09-11)
2.43.0 (2024-08-22)
2.42.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1581)
- Update joints_userdoc.rst (#1604)
- Fix link to gazebosim.org (#1563) (#1564)
- Add doc page about joint kinematics (#1497) (#1559)
- Bump version of pre-commit hooks (backport #1556) (#1557)
- Contributors: Christoph Fröhlich, mergify[bot]
2.41.0 (2024-04-30)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gen_version_h | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_parameter_server hardware_interface ros2_control test_robot_hardware |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | dashing |
| Last Updated | 2020-02-06 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS2 ros_control hardware interface
Additional Links
No additional links.
Maintainers
- Karsten Knese
Authors
No additional authors.
robot agnostic hardware_interface package. This package will eventually be moved into its own repo.
CHANGELOG
Changelog for package hardware_interface
0.0.1 (2020-02-05)
- Dashing compatibility (#47)
- Contributors: Bence Magyar, Karsten Knese, Anas Abou Allaban
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | galactic |
| Last Updated | 2022-08-03 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS2 ros_control hardware interface
Additional Links
No additional links.
Maintainers
- Karsten Knese
- Bence Magyar
Authors
No additional authors.
robot agnostic hardware_interface package. This package will eventually be moved into its own repo.
CHANGELOG
Changelog for package hardware_interface
1.6.0 (2022-08-03)
1.5.1 (2022-05-31)
1.5.0 (2022-04-29)
- Require lifecycle-msgs in hardware_interface package (#675)
- Contributors: Martin Wudenka
1.4.0 (2022-02-18)
1.3.0 (2021-12-21)
1.2.0 (2021-11-05)
- Import and Initialize components (#566)
- Contributors: Alejandro Hernández Cordero
1.1.0 (2021-10-25)
- Handle errors of hardware that happen on read and write. (#546)
- Contributors: Denis Štogl, Mathias Aarbo
1.0.0 (2021-09-29)
- Hardware components extension for lifecycle support (#503)
- add M_PI macro for windows in test_component_parser.cpp (#502)
- Extend GenericSystem by adding mapping of position with offset to custom interface. (#469)
- Remove BOOST compiler definitions for pluginlib from CMakeLists (#514)
- Do not manually set C++ version to 14 (#516)
- Contributors: Bence Magyar, Denis Štogl, dzyGIT
0.8.0 (2021-08-28)
- Use clang format as code formatter (#491)
- Fixup doc typo (#492)
- Add docs for fake components (#466)
- sort interfaces in resource manager (#483)
- fix format (#484)
- Transmission parsing v2
(#471)
- move parsing responsibility to hardware_interface
- parse transmission type
- Cleanup unused parser
- Add pre-commit setup. (#473)
- Extended GenericSystem with state offset options for testing some
special control cases.
(#350)
- Extended GenericSystem with state offset options for testing some special control cases.
- Better parameter name
- Apply offset only to position interfaces.
- Added GPIO parsing and test (#436)
- Fixes for windows
(#443)
- Fix building on windows
- Fix MSVC linker error when building tests
- Fix hang when loading controller on windows
- Use better log for configuring controller
- Be consistent with visibility control
- Use try_lock throw exception on failure
- Contributors: Akash, Bence Magyar, Denis Štogl, Karsten Knese, Mathias Arbo, Jafar Abdi
0.7.1 (2021-06-15)
- [FakeSystem] Set default command interface to NaN (#424)
- Contributors: Denis Štogl, Bence Magyar
0.7.0 (2021-06-06)
- Add FTS as first semantic components to simplify controllers. (#370)
- Contributors: bailaC, Denis Štogl, Jordan Palacios
0.6.1 (2021-05-31)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gmock | |
| ament_lint_auto | |
| ament_lint_common | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.11.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | foxy |
| Last Updated | 2022-11-17 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS2 ros_control hardware interface
Additional Links
No additional links.
Maintainers
- Karsten Knese
- Bence Magyar
Authors
No additional authors.
robot agnostic hardware_interface package. This package will eventually be moved into its own repo.
CHANGELOG
Changelog for package hardware_interface
0.11.0 (2022-08-03)
- Error if a hardware name is duplicated (backport #672) (#707)
- Contributors: Andy Zelenak, Bence Magyar
0.10.1 (2022-05-31)
0.10.0 (2022-02-23)
0.9.0 (2021-12-20)
0.8.1 (2021-10-25)
- add M_PI macro for windows foxy in test_component_parser.cpp (#545)
- Extend GenericSystem by adding mapping of position with offset to custom interface. (#469) (#523)
- Contributors: BenjaminHug8, Denis Štogl
0.8.0 (2021-08-28)
- Use clang format as code formatter (#491)
- Fixup doc typo (#492)
- Add docs for fake components (#466)
- sort interfaces in resource manager (#483)
- fix format (#484)
- Transmission parsing v2
(#471)
- move parsing responsibility to hardware_interface
- parse transmission type
- Cleanup unused parser
- Add pre-commit setup. (#473)
- Extended GenericSystem with state offset options for testing some
special control cases.
(#350)
- Extended GenericSystem with state offset options for testing some special control cases.
- Better parameter name
- Apply offset only to position interfaces.
- Added GPIO parsing and test (#436)
- Fixes for windows
(#443)
- Fix building on windows
- Fix MSVC linker error when building tests
- Fix hang when loading controller on windows
- Use better log for configuring controller
- Be consistent with visibility control
- Use try_lock throw exception on failure
- Contributors: Akash, Bence Magyar, Denis Štogl, Karsten Knese, Mathias Arbo, Jafar Abdi
0.7.1 (2021-06-15)
- [FakeSystem] Set default command interface to NaN (#424)
- Contributors: Denis Štogl, Bence Magyar
0.7.0 (2021-06-06)
- Add FTS as first semantic components to simplify controllers. (#370)
- Contributors: bailaC, Denis Štogl, Jordan Palacios
0.6.1 (2021-05-31)
0.6.0 (2021-05-23)
- Remove the with_value_ptr and class templatization for ReadOnlyHandle (#379)
- fake_components: Add mimic joint to generic system (#409)
- List controller claimed interfaces (#407)
- Contributors: El Jawad Alaa, Jafar Abdi, Jordan Palacios, Bence Magyar
0.5.0 (2021-05-03)
- Make hardware interface types as const char array rather than const char pointer (#408)
- use auto instead of uint (#398)
- hardware_interface mode switching using prepareSwitch doSwitch approach (#348)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gmock | |
| ament_lint_auto | |
| ament_lint_common | |
| ros2_control_test_assets | |
| control_msgs | |
| pluginlib | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros2_control repocontroller_interface controller_manager controller_manager_msgs hardware_interface hardware_interface_testing joint_limits joint_limits_interface ros2_control ros2_control_test_assets ros2controlcli rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.30.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros2_control.git |
| VCS Type | git |
| VCS Version | iron |
| Last Updated | 2024-11-14 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface
Additional Links
No additional links.
Maintainers
- Bence Magyar
- Denis Štogl
Authors
No additional authors.
Overview
For detailed information about this package, please see the ros2_control Documentation!
CHANGELOG
Changelog for package hardware_interface
3.30.0 (2024-11-12)
3.29.0 (2024-11-02)
- Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) (#1600)
- Contributors: mergify[bot]
3.28.1 (2024-09-11)
3.28.0 (2024-08-22)
3.27.0 (2024-07-23)
- Small improvements to the error output in component parser to make debugging easier. (backport #1580) (#1582)
- Contributors: mergify[bot]
3.26.0 (2024-07-09)
- Fix link to gazebosim.org (#1563) (#1565)
- Add doc page about joint kinematics (#1497) (#1560)
- Bump version of pre-commit hooks (backport #1556) (#1558)
- Contributors: mergify[bot]
3.25.0 (2024-04-30)
- Add missing calculate_dynamics (#1498) (#1512)
- [Doc] Add documentation about initial_value regarding mock_hw (#1352) (#1514)
- Move migration notes (#1481)
- Bump version of pre-commit hooks (backport #1430) (#1435)
- Contributors: Christoph Fröhlich, Felix Exner
3.24.0 (2024-03-02)
- [CI] Code coverage + pre-commit (backport #1413) (#1415)
- Move hardware interface README content to sphinx documentation (#1342) (#1381)
- Contributors: mergify[bot]
3.23.0 (2024-02-01)
- Move [test_components]{.title-ref} to own package (backport #1325) (#1341)
- Contributors: Christoph Fröhlich
3.22.1 (2024-01-25)
- [CM] Fix controller parameter loading issue in different cases (#1293) (#1331)
- Contributors: Sai Kishor Kothakota
3.22.0 (2024-01-20)
- [RM] Fix crash for missing urdf in resource manager (#1301) (#1313)
- Add additional checks for non existing and not available interfaces. (backport #1218) (#1292)
- Adding backward compatibility for string-to-double conversion (#1284) (#1289)
- Fix return of ERROR and calls of cleanup when system is unconfigured of finalized (#1279) (#1287)
- fix the multiple definitions of lexical casts methods (#1281) (#1283)
- Use portable version for string-to-double conversion (backport #1257) (#1269)
- [ResourceManager] adds test for uninitialized hardware (#1243)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rcutils | |
| ament_cmake | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| control_msgs | |
| lifecycle_msgs | |
| pluginlib | |
| rclcpp_lifecycle | |
| rcpputils | |
| tinyxml2_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocombined_robot_hw combined_robot_hw_tests controller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.13.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2020-04-17 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Bence Magyar
- Enrique Fernandez
- Mathias Lüdtke
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
README
No README found.
See repository README.
CHANGELOG
Changelog for package hardware_interface
0.13.5 (2020-02-09)
0.13.4 (2020-01-12)
0.13.3 (2018-04-26)
- Introduce shared_ptr typedefs
- Update maintainers
- Fix catkin_lint errors and warnings
- Contributors: Bence Magyar
0.13.2 (2018-04-16)
0.13.1 (2018-03-26)
0.13.0 (2017-12-23)
- move CheckIsResourceManager into internal namespace
- remove unused CheckIsResourceManager::value
- do not require default constructors for HardwareInterface classes ResourceManager-based interfaces still need a default constructor.
- get rid of warnings for functions returning no values
- test for HW interface without default constructor
- fix constness in ImuSensorHandle
- fix constness in ForceTorqueSensorHandle
- Contributors: Mathias Lüdtke
0.12.0 (2017-08-05)
0.11.5 (2017-06-28)
0.11.4 (2017-02-14)
0.11.3 (2016-12-07)
0.11.2 (2016-11-28)
- Add Enrique and Bence to maintainer list
- Clean up export leftovers from rosbuild
- Convert to format2, fix dependency in cmake
- Contributors: Bence Magyar
0.11.1 (2016-08-18)
0.11.0 (2016-05-23)
- Allow the InterfaceManager class to register other InterfaceManagers. This will make it possible to combine several RobotHW objects into a single one.
- Contributors: Toni Oliver
0.10.1 (2016-04-23)
- Fix rosconsole errors from test build
- Contributors: Bence Magyar
0.10.0 (2015-11-20)
- Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time.
- Introduce prepareSwitch, replacement of canSwitch
- Add InterfaceManager::getNames Add new method that allows to query the names of all interfaces managed by an InterfaceManager instance.
- Multi-interface controllers
- C++ API break.
- Modify ControllerInfo class to allow controllers to claim resources from multiple hardware interfaces. - Propagate changes to RobotHW::checkForConflict: Default resource ownsership policy is aware of controllers claiming resources from multiple hardware interfaces.
- Update and extend the corresponding test suite.
- Address -Wunused-parameter warnings
- Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias Lüdtke
0.9.3 (2015-05-05)
0.9.2 (2015-05-04)
- Add HW interface switch feature
- Contributors: Mathias Lüdtke
0.9.1 (2014-11-03)
- Update package maintainers
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.9.0 (2014-10-31)
- Add PosVel and PosVelAcc command interfaces
- Documentation fixes
- Contributors: Igorec, shadowmanos
0.8.2 (2014-06-25)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocontroller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.10.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | jade-devel |
| Last Updated | 2016-11-28 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
README
No README found.
See repository README.
CHANGELOG
Changelog for package hardware_interface
0.10.1 (2016-11-28)
0.10.0 (2015-11-20)
- Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time.
- Introduce prepareSwitch, replacement of canSwitch
- Add InterfaceManager::getNames Add new method that allows to query the names of all interfaces managed by an InterfaceManager instance.
- Multi-interface controllers
- C++ API break.
- Modify ControllerInfo class to allow controllers to claim resources from multiple hardware interfaces. - Propagate changes to RobotHW::checkForConflict: Default resource ownsership policy is aware of controllers claiming resources from multiple hardware interfaces.
- Update and extend the corresponding test suite.
- Address -Wunused-parameter warnings
- Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias Lüdtke
0.9.3 (2015-05-05)
0.9.2 (2015-05-04)
- Add HW interface switch feature
- Contributors: Mathias Lüdtke
0.9.1 (2014-11-03)
- Update package maintainers
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.9.0 (2014-10-31)
- Add PosVel and PosVelAcc command interfaces
- Documentation fixes
- Contributors: Igorec, shadowmanos
0.8.2 (2014-06-25)
0.8.1 (2014-06-24)
0.8.0 (2014-05-12)
- Fix doc typo.
- Remove rosbuild artifacts. Fix #154.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add ResourceHandle typedef
- add name to anonymous objects to avoid cppcheck error
- Contributors: Daniel Pinyol, Igorec
0.6.0 (2014-02-05)
- Update interface_manager.h Trivial doc fix
- Add raw data accessors to actuators interface. Write access to the raw actuator data will be needed for automatic transmission loading.
- Fix doc typo.
- Migrate RobotHW class to use InterfaceManager.
- Factor out interface management parts of RobotHW.
- Interface management is needed in the transmission_interface package as well.
- Add new InterfaceManager internal class, with tests.
- RobotHW remains untouched.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.5.8 (2013-10-11)
- Renamed manifest.xml to prevent conflicts with rosdep
- Move from postfix to prefix increment in loops. Detected by cppcheck 'postfixOperator' warning.
- CMakeLists fix to fit with OpenEmbedded/Yocto meta-ros layer. Increase the compatibility of the ros_control code with meta-ros, an OpenEmbedded/Yocto layer that provides recipes for ROS packages disabling catking checking the variable CATKIN_ENABLE_TESTING.
0.5.7 (2013-07-30)
- Updated changelogs
- Author/maintainer list update.
0.5.6 (2013-07-29)
0.5.5 (2013-07-23)
0.5.4 (2013-07-23)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocontroller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.9.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-05-31 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
README
No README found.
See repository README.
CHANGELOG
Changelog for package hardware_interface
0.9.7 (2018-05-19)
- Introduce shared_ptr typedefs
- Contributors: Bence Magyar
0.9.6 (2018-04-16)
0.9.5 (2018-03-26)
0.9.4 (2016-02-12)
- Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time. In this method controller switching is scheduled, but not actually executed. This changeset fixes a bug in which hardware interface modes could switch before controllers, leading to undefined behavior.
- Introduce prepareSwitch, replacement of canSwitch RobotHW::prepareSwitch is intended as a substitute for RobotHW::canSwitch. The main reasons for the change are a non-const signature to allow changing state and a more descriptive name. RobotHW::canSwitch will be deprecated in a later ROS distro.
- Address -Wunused-parameter warnings
- Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias Lüdtke
0.9.3 (2015-05-05)
0.9.2 (2015-05-04)
- Add HW interface switch feature
- Contributors: Mathias Lüdtke
0.9.1 (2014-11-03)
- Update package maintainers
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.9.0 (2014-10-31)
- Add PosVel and PosVelAcc command interfaces
- Documentation fixes
- Contributors: Igorec, shadowmanos
0.8.2 (2014-06-25)
0.8.1 (2014-06-24)
0.8.0 (2014-05-12)
- Fix doc typo.
- Remove rosbuild artifacts. Fix #154.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add ResourceHandle typedef
- add name to anonymous objects to avoid cppcheck error
- Contributors: Daniel Pinyol, Igorec
0.6.0 (2014-02-05)
- Update interface_manager.h Trivial doc fix
- Add raw data accessors to actuators interface. Write access to the raw actuator data will be needed for automatic transmission loading.
- Fix doc typo.
- Migrate RobotHW class to use InterfaceManager.
- Factor out interface management parts of RobotHW.
- Interface management is needed in the transmission_interface package as well.
- Add new InterfaceManager internal class, with tests.
- RobotHW remains untouched.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.5.8 (2013-10-11)
- Renamed manifest.xml to prevent conflicts with rosdep
- Move from postfix to prefix increment in loops. Detected by cppcheck 'postfixOperator' warning.
- CMakeLists fix to fit with OpenEmbedded/Yocto meta-ros layer. Increase the compatibility of the ros_control code with meta-ros, an OpenEmbedded/Yocto layer that provides recipes for ROS packages disabling catking checking the variable CATKIN_ENABLE_TESTING.
0.5.7 (2013-07-30)
- Updated changelogs
- Author/maintainer list update.
0.5.6 (2013-07-29)
0.5.5 (2013-07-23)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocontroller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.3 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2014-10-28 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
README
No README found.
See repository README.
CHANGELOG
Changelog for package hardware_interface
0.7.3 (2014-10-28)
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add ResourceHandle typedef
- add name to anonymous objects to avoid cppcheck error
- Contributors: Daniel Pinyol, Igorec
0.6.0 (2014-02-05)
- Update interface_manager.h Trivial doc fix
- Add raw data accessors to actuators interface. Write access to the raw actuator data will be needed for automatic transmission loading.
- Fix doc typo.
- Migrate RobotHW class to use InterfaceManager.
- Factor out interface management parts of RobotHW.
- Interface management is needed in the transmission_interface package as well.
- Add new InterfaceManager internal class, with tests.
- RobotHW remains untouched.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.5.8 (2013-10-11)
- Renamed manifest.xml to prevent conflicts with rosdep
- Move from postfix to prefix increment in loops. Detected by cppcheck 'postfixOperator' warning.
- CMakeLists fix to fit with OpenEmbedded/Yocto meta-ros layer. Increase the compatibility of the ros_control code with meta-ros, an OpenEmbedded/Yocto layer that provides recipes for ROS packages disabling catking checking the variable CATKIN_ENABLE_TESTING.
0.5.7 (2013-07-30)
- Updated changelogs
- Author/maintainer list update.
0.5.6 (2013-07-29)
0.5.5 (2013-07-23)
0.5.4 (2013-07-23)
0.5.3 (2013-07-22)
0.5.2 (2013-07-22)
0.5.1 (2013-07-19)
- Typo fix
0.5.0 (2013-07-16)
- Add meta tags to packages not specifying them.
- Website, bugtracker, repository.
- Merged hydro-devel into master
- Fix compiler warnings (-Wreorder)
- Remove unused headers.
- Unit test sensor interfaces.
- Add default constructors to sensor handles.
- Tests build.
- Reneamed Github repo in documentation to ros-controls
- Add missing brace.
- Update sensor interfaces implementation.
- Use resource managing classes introduced in recent hardware interface rework.
- Conform to unified public API.
- Remove Eigen dependency from hardware_interface.
- Expose force-torque and IMU sensor data as const pointers to the raw data.
- Client code should wrap raw data however they prefer.
- Explicitly initialize IMU sensor handle members.
- Scrape orientation interface prototype.
- Add sensor ref frame field and capability queries.
- Add sensor reference frame field.
- First draft of sensor interfaces.
- Force/torque (wrench)
- Orientation
- IMU (very crude approximation)
0.4.0 (2013-06-25)
-
Version 0.4.0
-
1.0.1
-
Add another convenience symbol demangling method. We already had: string foo_name = demangledTypeName<FooType>(); which works great for typenames, but we were missing the equivalent for specific instances: FooType foo; string foo_name = demangledTypeName(foo); ...which works well for polymorphic types, returning the derived-most name.
-
Fix duplicate header guard.
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocombined_robot_hw combined_robot_hw_tests controller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.13.5 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2020-04-17 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Bence Magyar
- Enrique Fernandez
- Mathias Lüdtke
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
README
No README found.
See repository README.
CHANGELOG
Changelog for package hardware_interface
0.13.5 (2020-02-09)
0.13.4 (2020-01-12)
0.13.3 (2018-04-26)
- Introduce shared_ptr typedefs
- Update maintainers
- Fix catkin_lint errors and warnings
- Contributors: Bence Magyar
0.13.2 (2018-04-16)
0.13.1 (2018-03-26)
0.13.0 (2017-12-23)
- move CheckIsResourceManager into internal namespace
- remove unused CheckIsResourceManager::value
- do not require default constructors for HardwareInterface classes ResourceManager-based interfaces still need a default constructor.
- get rid of warnings for functions returning no values
- test for HW interface without default constructor
- fix constness in ImuSensorHandle
- fix constness in ForceTorqueSensorHandle
- Contributors: Mathias Lüdtke
0.12.0 (2017-08-05)
0.11.5 (2017-06-28)
0.11.4 (2017-02-14)
0.11.3 (2016-12-07)
0.11.2 (2016-11-28)
- Add Enrique and Bence to maintainer list
- Clean up export leftovers from rosbuild
- Convert to format2, fix dependency in cmake
- Contributors: Bence Magyar
0.11.1 (2016-08-18)
0.11.0 (2016-05-23)
- Allow the InterfaceManager class to register other InterfaceManagers. This will make it possible to combine several RobotHW objects into a single one.
- Contributors: Toni Oliver
0.10.1 (2016-04-23)
- Fix rosconsole errors from test build
- Contributors: Bence Magyar
0.10.0 (2015-11-20)
- Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time.
- Introduce prepareSwitch, replacement of canSwitch
- Add InterfaceManager::getNames Add new method that allows to query the names of all interfaces managed by an InterfaceManager instance.
- Multi-interface controllers
- C++ API break.
- Modify ControllerInfo class to allow controllers to claim resources from multiple hardware interfaces. - Propagate changes to RobotHW::checkForConflict: Default resource ownsership policy is aware of controllers claiming resources from multiple hardware interfaces.
- Update and extend the corresponding test suite.
- Address -Wunused-parameter warnings
- Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias Lüdtke
0.9.3 (2015-05-05)
0.9.2 (2015-05-04)
- Add HW interface switch feature
- Contributors: Mathias Lüdtke
0.9.1 (2014-11-03)
- Update package maintainers
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.9.0 (2014-10-31)
- Add PosVel and PosVelAcc command interfaces
- Documentation fixes
- Contributors: Igorec, shadowmanos
0.8.2 (2014-06-25)
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocombined_robot_hw combined_robot_hw_tests controller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.18.4 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2023-10-27 |
| Dev Status | MAINTAINED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Bence Magyar
- Enrique Fernandez
- Mathias Lüdtke
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
Hardware Interfaces
Hardware interfaces are used by ROS control in conjunction with one of the available ROS controllers to send (\ref hardware_interface::RobotHW::write) commands to the hardware and receive (\ref hardware_interface::RobotHW::read) states from the robot’s resources (joints, sensors, actuators).
A list of available hardware interfaces (provided via the HardwareResourceManager) as of this writing are:
-
JointCommandInterface:
hardware interface to support commanding and reading the state of an array of
joints. Note that these commands can have any semantic meaning as long as each
can be represented by a single double, they are not necessarily effort commands.
To specify a meaning to this command, see the derived classes:
- EffortJointInterface: for commanding and reading effort-based joints.
- VelocityJointInterface: for commanding and reading velocity-based joints.
- PositionJointInterface: for commanding and reading position-based joints.
- JointStateInterfaces: hardware interface to support reading the state of an array of named joints, each of which has some position, velocity, and effort (force or torque).
- ActuatorStateInterfaces: hardware interface to support reading the state of an array of named actuators, each of which has some position, velocity, and effort (force or torque).
- ActuatorCommandInterfaces
- PosVelJointInterface
- PosVelAccJointInterface
- Force-torque sensor Interface
- IMU sensor Interface
Note that \ref hardware_interface::JointCommandInterface allows both reading joint state and commanding [effort|velocity|position]-based joints (see this answer).
CHANGELOG
Changelog for package hardware_interface
0.18.4 (2021-06-16)
0.18.3 (2020-12-05)
- [hardware_interface] Update documentation
(#457)
* doc: update robot_hw.h docstrings update docstring of class and
init method.
- doc: add mainpage.dox including examples
- doc: add README.md for hardware_interface
- Update hardware_interface/mainpage.dox
- Use JointStateHandle in case of read-only operations
- Explain JointStateInterface and PositionJointInterface
- Explain how to use potential software transmissions
- Link to transmission_interface examples
- remove whitespace
- Update mainpage.dox with comments from \@bmagyar
- Explain JointStateInterface and PositionJointInterface
- Explain how to use potential software transmissions
- Link to transmission_interface examples
- Update doc of robot_hw.h with comments of \@bmagyar
- Use JointStateHandle in case of read-only operations
- Clarified documentation for InterfaceManager sub-manager handling
- Updated InterfaceManager documentation
- Removed duplicate error message Previously, trying to combine two non-ResourceManager interfaces yielded two identical error messages.
- Remove inconsistent InterfaceManager manager registering behavior All InterfaceManager now handle registered InterfaceManagers transparently. This allows chains of multiple InterfaceManagers registered to each other to work corectly, mostly relevant for registering a manager from a combined_robot_hw RobotHW.
- doc: add README.md for hardware_interface
- doc: add mainpage.dox including examples
- doc: update robot_hw.h docstrings update docstring of class and init method.
- Contributors: Bence Magyar, Franz Pucher, Robert Wilbrandt
0.18.2 (2020-08-17)
0.18.1 (2020-05-09)
- Add function specifiers and modernize constructors
(#430)
- Add override specifiers & default constructors
- Delete ControllerBase copy & move ctors
- Remove unnecessary default constructors
- Modernize additional constructors
- Revert ImuSensorHandle::<Data::Data>() = default
- Remove unnecessary default overridden constructors
- Remove semicolon after function body
- [hardware_interface::RobotHW] doc: update read and write, fix: group names (#444)
- Contributors: Franz, Matt Reynolds
0.18.0 (2020-04-16)
- Bump CMake version to avoid CMP0048 (#427)
- Contributors: Shane Loretz
0.17.0 (2020-02-24)
- Use default member initializers
- Use braces for member initializers
- Replace boost with std
- Replace boost::ptr_vector<T> with std::vector<T*>
- Contributors: AbhinavSingh, Bence Magyar, Matt Reynolds
0.16.0 (2020-01-27)
- Merge pull request #413 from matthew-reynolds/range-for Use range-based for loop
- Use more meaningful pair iterator names
- Correct typo in interface_manager.h Co-Authored-By: Bence Magyar <<bence.magyar.robotics@gmail.com>>
- Merge pull request #404 from matthew-reynolds/catkin-lint Update CMakeLists.txt and package.xml
- Use range-based for loops in hardware_interface
- Resolve Boost dependency issues
- Update dependencies
- Dependencies needed to compile are <build_depend>
- Dependencies used in public headers are <build_export_depend>
- Dependencies needed to link or run are <exec_depend>
- Merge branch 'melodic-devel' into catkin-lint
- Update package dependencies
- Remove rosunit test_depend from package.xml
- Merge pull request #405 from matthew-reynolds/use-nullptr Use nullptr
- Use nullptr in tests
- Prefer nullptr for null pointers
- Merge pull request #406 from matthew-reynolds/pragma-once Use #pragma once
- Replace header guard with #pragma once
File truncated at 100 lines see the full file
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged hardware_interface at Robotics Stack Exchange
|
|
hardware_interface package from ros_control repocombined_robot_hw combined_robot_hw_tests controller_interface controller_manager controller_manager_msgs controller_manager_tests hardware_interface joint_limits_interface ros_control rqt_controller_manager transmission_interface |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.20.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-controls/ros_control.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2024-10-12 |
| Dev Status | MAINTAINED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Hardware Interface base class.
Additional Links
Maintainers
- Bence Magyar
- Enrique Fernandez
- Mathias Lüdtke
Authors
- Wim Meeussen
- Adolfo Rodriguez Tsouroukdissian
Hardware Interfaces
Hardware interfaces are used by ROS control in conjunction with one of the available ROS controllers to send (\ref hardware_interface::RobotHW::write) commands to the hardware and receive (\ref hardware_interface::RobotHW::read) states from the robot’s resources (joints, sensors, actuators).
A list of available hardware interfaces (provided via the HardwareResourceManager) as of this writing are:
-
JointCommandInterface:
hardware interface to support commanding and reading the state of an array of
joints. Note that these commands can have any semantic meaning as long as each
can be represented by a single double, they are not necessarily effort commands.
To specify a meaning to this command, see the derived classes:
- EffortJointInterface: for commanding and reading effort-based joints.
- VelocityJointInterface: for commanding and reading velocity-based joints.
- PositionJointInterface: for commanding and reading position-based joints.
- JointStateInterfaces: hardware interface to support reading the state of an array of named joints, each of which has some position, velocity, and effort (force or torque).
- ActuatorStateInterfaces: hardware interface to support reading the state of an array of named actuators, each of which has some position, velocity, and effort (force or torque).
- ActuatorCommandInterfaces
- PosVelJointInterface
- PosVelAccJointInterface
- Force-torque sensor Interface
- IMU sensor Interface
Note that \ref hardware_interface::JointCommandInterface allows both reading joint state and commanding [effort|velocity|position]-based joints (see this answer).
CHANGELOG
Changelog for package hardware_interface
0.20.0 (2023-10-27)
- Add JPVTPIDGains-like interface (#515)
- Contributors: Bence Magyar, Wolfgang Merkt
0.19.6 (2022-10-21)
- Update mainpage.dox (#496)
- Contributors: PaddyCube
0.19.5 (2021-06-16)
- Correct exception msg for missing abs pos ptr
- fix broken links by making them relative
- Contributors: G.A. vd. Hoorn, Mikael Arguedas
0.19.4 (2020-12-05)
- Clarified documentation for InterfaceManager sub-manager handling
- Updated InterfaceManager documentation
- Removed duplicate error message Previously, trying to combine two non-ResourceManager interfaces yielded two identical error messages.
- Remove inconsistent InterfaceManager manager registering behavior All InterfaceManager now handle registered InterfaceManagers transparently. This allows chains of multiple InterfaceManagers registered to each other to work corectly, mostly relevant for registering a manager from a combined_robot_hw RobotHW. Resolves #452
- Contributors: Robert Wilbrandt
0.19.3 (2020-10-11)
- Update mainpage.dox
- Explain JointStateInterface and PositionJointInterface
- Explain how to use potential software transmissions
- Link to transmission_interface examples
- Update doc of robot_hw.h
- Use JointStateHandle in case of read-only operations
- doc: add README.md for hardware_interface
- doc: add mainpage.dox including examples
- doc: update robot_hw.h docstrings update docstring of class and init method.
- Contributors: Franz Pucher, Bence Magyar
0.19.2 (2020-08-17)
0.19.1 (2020-05-10)
-
Function specifiers noetic (#453)
- Add override specifiers & default constructors
- Delete ControllerBase copy & move ctors
- Remove unnecessary default constructors
- Modernize additional constructors
- Revert ImuSensorHandle::<Data::Data>() = default
- Remove unnecessary default overridden constructors
* Remove semicolon after function body Co-authored-by: Matt Reynolds <<mtreynolds@uwaterloo.ca>>
-
[hardware_interface::RobotHW] doc: update read and write, fix: group names (#444) (#454)
-
Use setuptools instead of distutils (#429)
-
Contributors: Bence Magyar, Matt Reynolds
0.19.0 (2020-04-23)
- Remove deprecated ForceTorqueHandle ctor (#437)
- Replace enums with enum classes (#412)
- Use CamelCase for ResourceManagerType typedef (#438)
- Contributors: Matt Reynolds
0.18.0 (2020-04-16)
- Bump CMake version to avoid CMP0048 (#427)
- Contributors: Shane Loretz
0.17.0 (2020-02-24)
- Use default member initializers
- Use braces for member initializers
- Replace boost with std
- Replace boost::ptr_vector<T> with std::vector<T*>
- Contributors: AbhinavSingh, Bence Magyar, Matt Reynolds
0.16.0 (2020-01-27)
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