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hardware_components_initial_state: | | ||
Map of parameters for controlled lifecycle management of hardware components. | ||
The names of the components are defined as attribute of ``<ros2_control>``-tag in ``robot_description``. | ||
Hardware components found in ``robot_description``, but without explicit state definition will be immediately activated. | ||
Detailed explanation of each parameter is given below. | ||
The full structure of the map is given in the following example: | ||
.. code-block:: yaml | ||
hardware_components_initial_state: | ||
unconfigured: | ||
- "arm1" | ||
- "arm2" | ||
inactive: | ||
- "base3" | ||
diagnostics.threshold.controllers.periodicity: | | ||
The ``periodicity`` diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity. | ||
diagnostics.threshold.controllers.execution_time: | | ||
The ``execution_time`` diagnostics will be published for all controllers. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle. |
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