How to list available hardware resource interfaces in ros_control?

asked 2016-06-26 00:32:01 -0500

triantatwo gravatar image

I'm new to the ros_control package and I'm a bit confused as to how it coordinates itself. I've mainly been playing with the Jackal simulation and what I've gathered is:

What I don't understand is how does the controller_manager magically know what hardware resource interfaces are available? It appears that you need to register them in separate nodes, but where is this communication happening?

In ROS I'm used to seeing topics, services, and parameters all publicly listed and accessible. But this hardware resource communication is invisible to me.

I appreciate any help / pointers. Thanks!

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