Skip to content

Commit

Permalink
Add list_hardware_components section to docs
Browse files Browse the repository at this point in the history
  • Loading branch information
christophfroehlich committed Aug 5, 2023
1 parent 34f43fd commit 6cdc27e
Show file tree
Hide file tree
Showing 3 changed files with 76 additions and 2 deletions.
24 changes: 24 additions & 0 deletions example_4/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,30 @@ Tutorial steps
Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.

Now, lets introspect the hardware components with

.. code-block:: shell
ros2 control list_hardware_components -v
There is a single hardware component for the robot providing the command and state interfaces:

.. code-block:: shell
Hardware Component 1
name: RRBotSystemWithSensor
type: system
plugin name: ros2_control_demo_example_4/RRBotSystemWithSensorHardware
state: id=3 label=active
command interfaces
joint1/position [available] [claimed]
joint2/position [available] [claimed]
state interfaces
joint1/position [available]
joint2/position [available]
tcp_fts_sensor/force.x [available]
tcp_fts_sensor/torque.z [available]
4. Check if controllers are running

.. code-block:: shell
Expand Down
25 changes: 25 additions & 0 deletions example_5/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,31 @@ Tutorial steps
Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.

Now, lets introspect the hardware components with

.. code-block:: shell
ros2 control list_hardware_components
There are two hardware components, one for the robot and one for the sensor:

.. code-block:: shell
Hardware Component 1
name: ExternalRRBotFTSensor
type: sensor
plugin name: ros2_control_demo_example_5/ExternalRRBotForceTorqueSensorHardware
state: id=3 label=active
command interfaces
Hardware Component 2
name: RRBotSystemPositionOnly
type: system
plugin name: ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware
state: id=3 label=active
command interfaces
joint1/position [available] [claimed]
joint2/position [available] [claimed]
4. Check if controllers are running

.. code-block:: shell
Expand Down
29 changes: 27 additions & 2 deletions example_6/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,31 @@ Tutorial steps
Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.

Now, lets introspect the hardware components with

.. code-block:: shell
ros2 control list_hardware_components
There are two hardware components, one for each actuator and one for each sensor:

.. code-block:: shell
Hardware Component 1
name: RRBotModularJoint2
type: actuator
plugin name: ros2_control_demo_example_6/RRBotModularJoint
state: id=3 label=active
command interfaces
joint2/position [available] [claimed]
Hardware Component 2
name: RRBotModularJoint1
type: actuator
plugin name: ros2_control_demo_example_6/RRBotModularJoint
state: id=3 label=active
command interfaces
joint1/position [available] [claimed]
4. Check if controllers are running

.. code-block:: shell
Expand All @@ -70,8 +95,8 @@ Tutorial steps
.. code-block:: shell
forward_position_controller[forward_command_controller/ForwardCommandController]
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]
forward_position_controller[forward_command_controller/ForwardCommandController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
5. If you get output from above you can send commands to *Forward Command Controller*, either:

Expand Down

0 comments on commit 6cdc27e

Please sign in to comment.