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Add documentation about initial_value regarding mock_hw (backport #1352) #1513

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Apr 29, 2024
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Add documentation about initial_value regarding mock_hw (backport #1352) #1513

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4 changes: 3 additions & 1 deletion hardware_interface/doc/hardware_interface_types_userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,9 @@ They can be combined together within the different hardware component types (sys
</gpio>
<gpio name="flange_analog_IOs">
<command_interface name="analog_output1"/>
<state_interface name="analog_output1"/> <!-- Needed to know current state of the output -->
<state_interface name="analog_output1"> <!-- Needed to know current state of the output -->
<param name="initial_value">3.1</param> <!-- Optional initial value for mock_hardware -->
</state_interface>
<state_interface name="analog_input1"/>
<state_interface name="analog_input2"/>
</gpio>
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16 changes: 16 additions & 0 deletions hardware_interface/doc/mock_components_userdoc.rst
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Expand Up @@ -58,3 +58,19 @@ mimic (optional; string)

multiplier (optional; double; default: 1; used if mimic joint is defined)
Multiplier of values for mimicking joint defined in ``mimic`` parameter. Example: ``<param name="multiplier">-2</param>``.

Per-interface Parameters
,,,,,,,,,,,,,,,,,,,,,,,,

initial_value (optional; double)
Initial value of certain state interface directly after startup. Example:

.. code-block:: xml

<state_interface name="position">
<param name="initial_value">3.45</param>
</state_interface>

Note: This parameter is shared with the gazebo and gazebo classic plugins for
joint interfaces. For Mock components it is also possible to set initial
values for gpio or sensor state interfaces.
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