Difference between using hardware_interface/VelocityJointInterface and VelocityJointInterface

Hi, all

When I’m defining the <hardwareInterface> in a urdf file, the example give in the URDF course using <hardwareInterface>VelocityJointInterface</hardwareInterface>. While the example in the ROS control document uses <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>.

I would like to know if there are any differences between using those two?


Hello @youngyangcs ,

Both do the same, but using only VelocityJointInterface is deprecated and will raise some warnings. The updated way to specify it is hardware_interface/VelocityJointInterface.


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