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Add joint names as std::string to mimic struct #2575

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Add joint names as std::string to mimic struct #2575

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0cb886e
Change mimic parser to also save the joint names
christophfroehlich Sep 22, 2025
b2f77cc
Test for joint names
christophfroehlich Sep 22, 2025
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2 changes: 2 additions & 0 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,9 @@ struct InterfaceInfo
/// @brief This structure stores information about a joint that is mimicking another joint
struct MimicJoint
{
std::string joint_name;
std::size_t joint_index;
std::string mimicked_joint_name;
std::size_t mimicked_joint_index;
double multiplier = 1.0;
double offset = 0.0;
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2 changes: 2 additions & 0 deletions hardware_interface/src/component_parser.cpp
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Expand Up @@ -994,7 +994,9 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
};

MimicJoint mimic_joint;
mimic_joint.joint_name = joint.name;
mimic_joint.joint_index = i;
mimic_joint.mimicked_joint_name = urdf_joint->mimic->joint_name;
mimic_joint.mimicked_joint_index = find_joint(urdf_joint->mimic->joint_name);
mimic_joint.multiplier = urdf_joint->mimic->multiplier;
mimic_joint.offset = urdf_joint->mimic->offset;
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4 changes: 4 additions & 0 deletions hardware_interface/test/test_component_parser.cpp
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Expand Up @@ -1569,7 +1569,9 @@ TEST_F(TestComponentParser, gripper_mimic_true_valid_config)
EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].multiplier, 2.0);
EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].offset, 1.0);
EXPECT_EQ(hw_info[0].mimic_joints[0].mimicked_joint_index, 0);
EXPECT_EQ(hw_info[0].mimic_joints[0].mimicked_joint_name, "right_finger_joint");
EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
EXPECT_EQ(hw_info[0].mimic_joints[0].joint_name, "left_finger_joint");
// when not set, rw_rate should be 0
EXPECT_EQ(hw_info[0].rw_rate, 0u);
}
Expand All @@ -1587,7 +1589,9 @@ TEST_F(TestComponentParser, gripper_no_mimic_valid_config)
EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].multiplier, 2.0);
EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].offset, 1.0);
EXPECT_EQ(hw_info[0].mimic_joints[0].mimicked_joint_index, 0);
EXPECT_EQ(hw_info[0].mimic_joints[0].mimicked_joint_name, "right_finger_joint");
EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
EXPECT_EQ(hw_info[0].mimic_joints[0].joint_name, "left_finger_joint");
// when not set, rw_rate should be 0
EXPECT_EQ(hw_info[0].rw_rate, 0u);
}
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