How to change hardware interface when ros2_control_node is running?

[lkx8421]

"I already know that controllers can be switched dynamically, but how do I modify the hardware interface while the ros2_control_node is running? What I mean is, how do I change a URDF (and have the changes take effect on the hardware interface)?"

[christophfroehlich]

You need to list all components in your URDF. Then you can define the initial state of your components in the controller_manager, see
hardware_components_initial_state parameters.
We have a stale PR to allow even for starting the system without loading components, but not sure if we will pick this up again #1049

[destogl]

@lkx8421 did the comment from @christophfroehlich help? If so, can you close the issue.