From 34717363bb4c6b5e454075989e59e4222c8f525b Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 31 Jan 2024 21:00:35 +0000 Subject: [PATCH 1/2] Add documentation about initial_value regarding mock_hw --- .../doc/hardware_interface_types_userdoc.rst | 4 +++- hardware_interface/doc/mock_components_userdoc.rst | 14 ++++++++++++++ 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/hardware_interface/doc/hardware_interface_types_userdoc.rst b/hardware_interface/doc/hardware_interface_types_userdoc.rst index 54b2003568..ae7142d751 100644 --- a/hardware_interface/doc/hardware_interface_types_userdoc.rst +++ b/hardware_interface/doc/hardware_interface_types_userdoc.rst @@ -85,7 +85,9 @@ They can be combined together within the different hardware component types (sys - + + 3.1 + diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst index 4b54d5fa00..9e1ae299ca 100644 --- a/hardware_interface/doc/mock_components_userdoc.rst +++ b/hardware_interface/doc/mock_components_userdoc.rst @@ -53,3 +53,17 @@ 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: ``-2``. + +Per-interface Parameters +,,,,,,,,,,,,,,,,,,,,,,,, + +initial_value (optional; double) + Initial value of certain state interface directly after startup. Example: + + .. code-block:: xml + + + 3.45 + + + Note: This parameter is shared with the gazebo and gazebo classic plugins. From 0d321b89368968c152e4bd837bb82b8edf7ec10b Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 1 Feb 2024 18:23:53 +0000 Subject: [PATCH 2/2] Clarify initial_value scope w.r.t mock_components and gazebo --- hardware_interface/doc/hardware_interface_types_userdoc.rst | 2 +- hardware_interface/doc/mock_components_userdoc.rst | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/hardware_interface/doc/hardware_interface_types_userdoc.rst b/hardware_interface/doc/hardware_interface_types_userdoc.rst index ae7142d751..cd1e475b20 100644 --- a/hardware_interface/doc/hardware_interface_types_userdoc.rst +++ b/hardware_interface/doc/hardware_interface_types_userdoc.rst @@ -86,7 +86,7 @@ They can be combined together within the different hardware component types (sys - 3.1 + 3.1 diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst index 9e1ae299ca..c075fdeafc 100644 --- a/hardware_interface/doc/mock_components_userdoc.rst +++ b/hardware_interface/doc/mock_components_userdoc.rst @@ -66,4 +66,6 @@ initial_value (optional; double) 3.45 - Note: This parameter is shared with the gazebo and gazebo classic plugins. + 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.