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Communication to hardware using topics, services, or actions is not and will not be possibly off-the-shelf. If you really need them, you can initialize a node in your hardware interface implementation. But this is not recommended.

Hardware interfaces now (end Feb 2022) implement lifecycle from lifecycle node interfaces. Those can be controlled externally from services of controller manager. For more details, check this comment.

This means that you should implement those actions to be triggered by additional command interfaces or lifecycle methods. An example for using additional commanding interface can be seen in UR driver:

• description
  • implementation in driver
  • custom controller

Communication to hardware using topics, services, or actions is not and will not be possibly off-the-shelf. If you really need them, you can initialize a node in your hardware interface implementation. But this is not recommended.

Hardware interfaces now (end Feb 2022) implement lifecycle from lifecycle node interfaces. Those can be controlled externally from services of controller manager. For more details, check this comment.

This means that you should implement those actions to be triggered by additional command interfaces or lifecycle methods. An example for using additional commanding interface can be seen in UR driver:

• description
  • implementation in driver
  • custom controller