HCDF ROS 2 Extension Specification Browser

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  • <topic> Element
    [0..*]
    A single device-to-topic mapping. One per sensor or motor.
  • sensor Attribute
    Type: xs:string: Reference to an HCDF sensor name (e.g., "imu0", "camera0"). Mutually exclusive with the 'motor' attribute: specify one or the other.
  • motor Attribute
    Type: xs:string: Reference to an HCDF motor name (e.g., "prop_fl", "joint_motor_1"). Mutually exclusive with the 'sensor' attribute: specify one or the other.
  • name Attribute
    Type: xs:string (required): ROS 2 topic name (e.g., "/imu/data", "/camera/image_raw"). Should follow ROS 2 naming conventions: lowercase, forward-slash separated, no special characters except underscores.
  • type Attribute
    Type: xs:string: ROS 2 message type in package/msg/Type format (e.g., "sensor_msgs/msg/Imu", "actuator_msgs/msg/MotorCommand"). Should be a valid, installed ROS 2 message type. OPTIONAL: a topic mapping may name only the device and a topic name with no message type; this carries a raw/native runtime topic (e.g. an imported SDF contact-sensor <topic>) whose message type is not yet resolved. When a full ROS 2 binding is authored, set the message type.
  • qos Attribute
    Type: sensor_data | reliable | system_default | services_default | parameters | parameter_events | action_status, default="system_default": QoS profile preset for this topic. Defaults to "system_default". Use "sensor_data" for high-frequency best-effort streams, "reliable" for commands that must not be dropped.