Hardware Interface

The hid_hardware package provides the ros2_control hardware interface plugin.

Overview

HidHardware implements the hardware_interface::SystemInterface to bridge USB HID devices with ROS 2.

Features

USB HID communication via libhidapi
Type-aware data conversion
Bidirectional communication support
Automatic device reconnection
Error handling and diagnostics

Configuration

The hardware interface is configured through URDF parameters generated from your schema:

<hardware>
  <plugin>hid_hardware/HidHardware</plugin>
  <param name="vendor_id">0x046d</param>
  <param name="product_id">0xc07e</param>
  <param name="input_report_id">2</param>
  <param name="output_report_id">1</param>
</hardware>

Lifecycle

Follows standard ros2_control lifecycle states.

Implementation Details

For implementation details, see the source code in hid_hardware/src/hid_hardware.cpp.