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
  • EffortActuatorInterface
  • VelocityActuatorInterface
  • PositionActuatorInterface
• 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 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

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