diff --git a/design_drafts/components_architecture_and_urdf_examples.md b/design_drafts/components_architecture_and_urdf_examples.md
index 273a3be..fc2b24e 100644
--- a/design_drafts/components_architecture_and_urdf_examples.md
+++ b/design_drafts/components_architecture_and_urdf_examples.md
@@ -38,25 +38,22 @@ Note:
2
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
```
-Note:
- * `ros2_control_components/PositionJoint`type has implicitly:
- ```xml
-
-
- ```
-
#### 2. Industrial Robots with multiple interfaces (can not be written at the same time)
* the communication is done using proprietary API to communicate with robot control box
* Data for all joints is exchanged in batch (at once)
@@ -70,32 +67,30 @@ Note:
2
- ros2_control_components/MultiInterfaceJoint
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5"
-
-
-
-
+
+
+
+
- ros2_control_components/MultiInterfaceJoint
-
+
-1
1
-
-
-
-
+
+
+
+
```
@@ -118,32 +113,30 @@ Note:
2
- ros2_control_components/MultiInterfaceMultiWriteJoint
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5"
-
-
-
-
+
+
+
+
- ros2_control_components/MultiInterfaceMultiWriteJoint
-
+
-1
1
-
-
-
-
+
+
+
+
```
@@ -164,14 +157,18 @@ Note:
2
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
ros2_control_components/ForceTorqueSensor
@@ -181,14 +178,6 @@ Note:
```
-Note:
- * `ros2_control_components/PositionJoint`type has implicitly:
- ```xml
-
-
- ```
- with the `min` and `max` parameters belonging to the `commandInterfaceType` element.
-
#### 4. Industrial Robots with externally connected sensor
* the communication is done using proprietary API
@@ -204,14 +193,18 @@ Note:
2
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
@@ -241,9 +234,11 @@ Note:
3
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
@@ -253,9 +248,11 @@ Note:
3
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
```
@@ -273,11 +270,11 @@ Note:
3
- ros2_control_components/VelocityJoint
-
+
-1
1
-
+
+
transmission_interface/SimpleTansmission
@@ -291,11 +288,11 @@ Note:
3
- ros2_control_components/VelocityJoint
-
+
-1
1
-
+
+
@@ -304,8 +301,7 @@ Note:
2
- ros2_control_components/PositionJoint
-
+
@@ -314,13 +310,10 @@ Note:
2
- ros2_control_components/PositionJoint
-
+
```
-Note:
- * since there is only one keyword `commandInterfaceType` or `stateInterfaceType` given to `ros2_control_components/PositionJoint`type the other one is ignored for the hardware
#### 7. Modular Robots with separate communication to each "actuator" with multi joints (Transmission Example) - (system component is used)
* the communication is done on actuator level using proprietary or standardized API (e.g., canopen_402)
@@ -336,14 +329,18 @@ Note:
3
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
- ros2_control_components/PositionJoint
- -1
- 1
+
+ -1
+ 1
+
+
transmission_interface/SomeComplex2by2Transmission
@@ -369,12 +366,12 @@ Note:
ros2_control_components/IMUSensor
-
-
+
+
ros2_control_components/2DImageSensor
-
+
```
@@ -392,9 +389,11 @@ Note:
3
- ros2_control_components/VelocityJoint
- -1
- 1
+
+ -1
+ 1
+
+
transmission_interface/RotationToLinerTansmission
@@ -415,285 +414,287 @@ Note:
0.001
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- contact_information
- timestamp
+
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- contact_information
- timestamp
+
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- contact_information
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- timestamp
+
+
+
+
+
+
+
+
+
-
+
-1
1
-
-
+
+
-1
1
-
-
+
+
-0.5
0.5
-
- Kp
- Kd
- effort_limit
- position
- velocity
- effort
- coil_resistance
- contact_information
- timestamp
+
+
+
+
+
+
+
+
+
ros2_control_components/IMUSensor
- orientation
- velocity
- acceleration
+
+ -54
+ 23
+
+
+
+ -10
+ 10
+
-54
23
-10
10
-
```