Configuration structure for RobotDriverROS. More...

#include <sas_robot_driver_ros.hpp>

Public Attributes
std::string	robot_driver_provider_prefix
	Prefix that identifies the robot driver provider node/topic namespace.

double	thread_sampling_time_sec
	Control thread sampling time in seconds.

double	watchdog_period_in_seconds
	Watchdog period in seconds. If <= 0 the watchdog may be considered disabled.

std::vector< double >	q_min
	Joint position minimum limits (q_min.size() == number of joints).

std::vector< double >	q_max
	Joint position maximum limits (q_max.size() == number of joints).

Detailed Description

Configuration structure for RobotDriverROS.

Holds configuration values required to initialize a RobotDriverROS instance, including topic prefixes, control thread timing and optional watchdog parameters.

The documentation for this struct was generated from the following file:

src/sas_robot_driver/include/sas_robot_driver/sas_robot_driver_ros.hpp

Public Attributes

Detailed Description