RobWorkHardware is a sub package of RobWork. Its main function is to provide an interface/driver layer for real hardware.

The package is structured into several modules which each can be enabled or disabled. This structure has been chosen because of the multiple external dependencies and because one typically only use few of the modules at a time.

The various external dependencies also mean that the license of some modules differ from the general RobWork license. In such a case this will be explicitly noted in the module headers as well as in the module documentation.

Currently driver wrappers/interfaces exist for cameras, CAN devices, serial port, weiss tactile sensors, swissranger and various robots such as the SDH, PA10 and PowerCube.