Add joint interfaces and transmission design draft #15
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| </transmission> | ||
| ``` | ||
| The content of a `hardwareInterface` XML attribute should match up with strings provided by `ros2_control` in the shape of familiar names: | ||
| `hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface, hardware_interface::EffortJointInterface`. |
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We should reconsider this, since we are not sure exactly how those interfaces will be implemented in robot_hardware. By using MultiInterfaceJointState we are more flexible.
Also, we need to clarify the terms Joint and Actuator so they are the same in the whole framework, especially in the hardware_interface package.
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This is only to highlight the use of standard names with a simple proposal, of course they can be changed but let's do that in a follow-up PR
| ### RobotHardware | ||
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| ``` | ||
| void RobotHardware::declareInterface(string name); |
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We should check how to do this exactly. This is a possible way, but for registering new Actuators which than have an instance of Transmission class in them.
bmagyar
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@destogl I'll merge thsi and please open PR-s with suggested changes |
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