View Available Hardware_Interface Handles

ros-controls / ros_control

Generic and simple controls framework for ROS

http://wiki.ros.org/ros_control

BSD 3-Clause "New" or "Revised" License

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View Available Hardware_Interface Handles #346

Open TomShkurti opened 6 years ago

TomShkurti commented 6 years ago

It would be helpful both for debugging and for familiarization with new robots (in cases where documentation is dubious or lacking) if there was a way to list all exposed hardware_interface handles and their types, similar to the controller_manager's list and list-types options.

bmagyar commented 6 years ago

That is indeed something I had in mind for a long time now. We'd need to add support for this to RobotHW and CombinedRobotHW.

littlejohnyang commented 6 years ago

Yes I think this is definitely useful. I'm currently running into a problem that my own controller is complaining missing hardware interface (which I created myself). I really wanna see if it's actually available or not in order to debug what I have done wrong.

bmagyar commented 6 years ago

You can find this in one of the resourcemanager instances within the controller_manager, it should be easy to expose.