From f16423ff5d0cd948fdd8daa029a7a87e68285cf1 Mon Sep 17 00:00:00 2001 From: Dominic Reber Date: Wed, 28 Jan 2026 10:35:00 +0100 Subject: [PATCH 1/2] feat(application-schema): add hardware plugin --- schemas/applications/schema/hardware.schema.json | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/schemas/applications/schema/hardware.schema.json b/schemas/applications/schema/hardware.schema.json index 21b009a3..ec0eb362 100644 --- a/schemas/applications/schema/hardware.schema.json +++ b/schemas/applications/schema/hardware.schema.json @@ -23,6 +23,14 @@ } ] }, + "hardware_plugin_override": { + "description": "An optional override for the hardware plugin used in the URDF. If left empty, the hardware plugin in the URDF will be used.", + "type": "string", + "examples": [ + "aica_core_interfaces/MockInterface", + "topic_based_ros2_control/TopicBasedSystem" + ] + }, "rate": { "description": "The rate in Hz at which to run the hardware interface", "type": "number", From ad2d7eee72b04dc000c2a9d786c62e6e0b824e0e Mon Sep 17 00:00:00 2001 From: Dominic Reber Date: Wed, 28 Jan 2026 10:36:24 +0100 Subject: [PATCH 2/2] docs: changelog --- schemas/applications/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/schemas/applications/CHANGELOG.md b/schemas/applications/CHANGELOG.md index 12213cff..19eac3a1 100644 --- a/schemas/applications/CHANGELOG.md +++ b/schemas/applications/CHANGELOG.md @@ -20,6 +20,10 @@ Release Versions: - [1-1-0](#1-1-0) - [1-0-0](#1-0-0) +## Upcoming changes + +- feat: add hardware plugin (#454) + ## 2-1-0 This update adds variables and assignments to the application schema, which allow parameter values to be set and reused