From 163625aa35834244da8127af96a7422da753af67 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 29 Nov 2024 14:52:26 +0100 Subject: [PATCH] fix: add controller description for the base controller interface --- ...controllers_base_controller_interface.json | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json diff --git a/source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json b/source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json new file mode 100644 index 00000000..b7a58486 --- /dev/null +++ b/source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json @@ -0,0 +1,19 @@ +{ + "$schema": "https://docs.aica.tech/schemas/1-3-0/controller.schema.json", + "name": "Base Controller Interface", + "description": { + "brief": "Base controller class to combine ros2_control, control libraries and modulo" + }, + "plugin": "modulo_controllers/BaseControllerInterface", + "virtual": true, + "parameters": [ + { + "display_name": "Predicate publishing rate", + "description": "The rate at which to publish controller predicates (in Hertz)", + "parameter_name": "predicate_publishing_rate", + "parameter_type": "double", + "default_value": "10.0", + "internal": true + } + ] +} \ No newline at end of file