Decide how to access those new handled in the read and write methods
Add arguments to read and write that provide map or list of interfaces that people access to
Add implicit access (confusing for users)
Enable vector and type handling by providing information from users and URDF tag. In the background, we will use doubles (and maybe chars if necessary because of double interpretation errors).
Move everything to new handles that support variants, i.e., optional.
HardwareInterface
interfaces?System
,Sensor
,Actuator
, and then as arguments to the implementationsread
andwrite
methodsread
andwrite
that provide map or list of interfaces that people access to