HCDF ROS 2 Control Extension Specification Browser
Element
Attribute
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name Attribute
Type: xs:string (required): The ros2_control block name (the hardware component instance name).
type Attribute
Type: system | actuator | sensor (required): The component classification: system / actuator / sensor.
<hardware> Element
The hardware component (plugin + params). At most one per block.
<joint> Element
A joint interface group (command/state interfaces + params).
<sensor> Element
A sensor interface group (state interfaces + params).
<gpio> Element
A GPIO interface group (command/state interfaces + params).
name Attribute
Type: xs:string (required): Interface name: position / velocity / effort / acceleration / ...
(overlaps motor control-modes; see the schema header).
<min> Element
Type: xs:double
Lower limit for this interface (at most one). Native-authoring affordance;
a URDF source expresses the same value as <param name="min">.
<max> Element
Type: xs:double
Upper limit for this interface (at most one). Native-authoring affordance;
a URDF source expresses the same value as <param name="max">.
<param> Element
Per-interface parameter (e.g. initial_value).
name Attribute
Type: xs:string (required): The referenced joint / sensor / gpio name.
<param> Element
Group-level parameter (e.g. id, offset, initial_position, p_cofficient).
<command_interface> Element
A command interface this group accepts (position / velocity / effort ...).
<state_interface> Element
A state interface this group reports (position / velocity / effort ...).
<plugin> Element
Type: xs:string
The hardware plugin class (e.g. "mock_components/GenericSystem",
"my_pkg/MyRobotHardware"). ros2_control loads this SystemInterface/ActuatorInterface/SensorInterface
implementation to drive the component.
<param> Element
A hardware-plugin configuration parameter.