loki_hw_interface.xml

<library path="loki_hw_interface">
  <class name="loki_hw_interface/LokiHardware"
         type="loki_hw_interface::LokiHardware"
         base_class_type="hardware_interface::SystemInterface">
    <description>
      Hardware interface for the Loki robot using a system hardware interface type. It provides velocity command and position state interfaces for controlling the robot's wheels and actuators. This hardware interface communicates with the Loki robot's hardware via a serial connection, enabling control of the robot's actuators and retrieval of sensor data.
    </description>
  </class>
</library>