Is the onit() method, parameters read from .yaml file? or URDF?

[ik2060]

In the module 5.7, which explains the source code of the hardware implementation, it says
" In the first line, the parent on_init is called to process the parameters read from the .yaml configuration file. This is done using hardware_interface::HardwareComponentInterface::on_init(params). This validation should return CallbackReturn::ERROR if an internal error occurred during parameter reading."

I am confused, isn’t it supposed to be URDF file?

[ik2060]

I mean to ask, parameters read from the URDF file or it .yaml?

[albertoezquerro]

Hello @ik2060 ,

Yes, you’re correct. In this case, the text should refer to the URDF rather than the YAML file. The on_init() method receives the hardware configuration parsed from the <ros2_control> section of the robot description. The YAML files are generally used to configure the controllers and controller manager. We’ll update that explanation to make it clearer.

Best,