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**[ aprotyas ](/aprotyas) ** approved these changes  Apr 22, 2022
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#  Make URDF available to HW components on initialize #abi-breaking  #709
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[ bmagyar ](/bmagyar) merged 1 commit into  [ ros-controls  :  master  ](/ros-
controls/ros2_control/tree/master "ros-controls/ros2_control:master") from  [
bmagyar  :  make-original-urdf-available-to-hw-components
](/bmagyar/ros2_control/tree/make-original-urdf-available-to-hw-components
"bmagyar/ros2_control:make-original-urdf-available-to-hw-components") Apr 27,
2022
Merged
#  Make URDF available to HW components on initialize #abi-breaking  #709
[ bmagyar ](/bmagyar) merged 1 commit into  [ ros-controls  :  master  ](/ros-
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[QWidget](qwidget.html) *main = new [QWidget](qwidget.html);
    
        // make a 1x1 grid; it will auto-expand
        [QGridLayout](qgridlayout.html) *grid = new [QGridLayout](qgridlayout.html)( main, 1, 1 );
    
        // add the first four widgets with (row, column) addressing
        grid->[addWidget](qgridlayout.html#addWidget)( new [QLabel](qlabel.html)( "One", main ),   0, 0 );
        grid->[addWidget](qgridlayout.html#addWidget)( new [QLabel](qlabel.html)( "Two", main ),   0, 1 );
        grid->[addWidget](qgridlayout.html#addWidget)( new [QLabel](qlabel.html)( "Three", main ), 1, 0 );
        grid->[addWidget](qgridlayout.html#addWidget)( new [QLabel](qlabel.html)( "Four", main ),  1, 1 );
    
        // add the last widget on row 2, spanning from column 0 to
        // column 1, and center aligned 
        grid->[addMultiCellWidget](qgridlayout.html#addMultiCellWidget)( new [QLabel](qlabel.html)( "Five", main ), 2, 2, 0, 1,
                                  Qt::AlignCenter );
    
        // let the ratio between the widths of columns 0 and 1 be 2:3
        grid->[setColStretch](qgridlayout.html#setColStretch)( 0, 2 );
        grid->[setColStretch](qgridlayout.html#setColStretch)( 1, 3 );
[QWidget](qwidget.html) *window = new [QWidget](qwidget.html);
         [QPushButton](qpushbutton.html) *button1 = new [QPushButton](qpushbutton.html)("One");
         [QLineEdit](qlineedit.html) *lineEdit1 = new [QLineEdit](qlineedit.html)();
         [QPushButton](qpushbutton.html) *button2 = new [QPushButton](qpushbutton.html)("Two");
         [QLineEdit](qlineedit.html) *lineEdit2 = new [QLineEdit](qlineedit.html)();
         [QPushButton](qpushbutton.html) *button3 = new [QPushButton](qpushbutton.html)("Three");
         [QLineEdit](qlineedit.html) *lineEdit3 = new [QLineEdit](qlineedit.html)();
    
         [QFormLayout](qformlayout.html) *layout = new [QFormLayout](qformlayout.html);
         layout->addRow(button1, lineEdit1);
         layout->addRow(button2, lineEdit2);
         layout->addRow(button3, lineEdit3);
    
         window->setLayout(layout);
         window->show();
#ifndef CARD_H
     #define CARD_H
    
     #include <QtGui>
     #include <QList>
    
     class CardLayout : public [QLayout](qlayout.html)
     {
     public:
         CardLayout([QWidget](qwidget.html) *parent, int dist): [QLayout](qlayout.html)(parent, 0, dist) {}
         CardLayout([QLayout](qlayout.html) *parent, int dist): [QLayout](qlayout.html)(parent, dist) {}
         CardLayout(int dist): [QLayout](qlayout.html)(dist) {}
         ~CardLayout();
    
         void addItem([QLayoutItem](qlayoutitem.html) *item);
         [QSize](qsize.html) sizeHint() const;
         [QSize](qsize.html) minimumSize() const;
             [QLayoutItem](qlayoutitem.html) *count() const;
         [QLayoutItem](qlayoutitem.html) *itemAt(int) const;
         [QLayoutItem](qlayoutitem.html) *takeAt(int);
         void setGeometry(const [QRect](qrect.html) &rect);
    
     private:
         [QList](qlist.html)<[QLayoutItem](qlayoutitem.html)*> list;
     };
     #endif
[QWidget](qwidget.html) *window = new [QWidget](qwidget.html);
         [QPushButton](qpushbutton.html) *button1 = new [QPushButton](qpushbutton.html)("One");
         [QPushButton](qpushbutton.html) *button2 = new [QPushButton](qpushbutton.html)("Two");
         [QPushButton](qpushbutton.html) *button3 = new [QPushButton](qpushbutton.html)("Three");
         [QPushButton](qpushbutton.html) *button4 = new [QPushButton](qpushbutton.html)("Four");
         [QPushButton](qpushbutton.html) *button5 = new [QPushButton](qpushbutton.html)("Five");
    
         [QGridLayout](qgridlayout.html) *layout = new [QGridLayout](qgridlayout.html);
         layout->addWidget(button1, 0, 0);
         layout->addWidget(button2, 0, 1);
         layout->addWidget(button3, 1, 0, 1, 2);
         layout->addWidget(button4, 2, 0);
         layout->addWidget(button5, 2, 1);
    
         window->setLayout(layout);
         window->show();
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[QWidget](qwidget.html) *main = new [QWidget](qwidget.html);
        [QLineEdit](qlineedit.html) *field = new [QLineEdit](qlineedit.html)( main );
        [QPushButton](qpushbutton.html) *ok = new [QPushButton](qpushbutton.html)( "OK", main );
        [QPushButton](qpushbutton.html) *cancel = new [QPushButton](qpushbutton.html)( "Cancel", main );
        [QLabel](qlabel.html) *label = new [QLabel](qlabel.html)( "Write once, compile everywhere.", main );
    
        // a layout on a widget
        [QVBoxLayout](qvboxlayout.html) *vbox = new [QVBoxLayout](qvboxlayout.html)( main );
        vbox->[addWidget](qboxlayout.html#addWidget)( label );
        vbox->[addWidget](qboxlayout.html#addWidget)( field );
    
        // a layout inside a layout
        [QHBoxLayout](qhboxlayout.html) *buttons = new [QHBoxLayout](qhboxlayout.html)( vbox );
        buttons->[addWidget](qboxlayout.html#addWidget)( ok );
        buttons->[addWidget](qboxlayout.html#addWidget)( cancel );
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[QWidget](qwidget.html) *window = new [QWidget](qwidget.html);
         [QPushButton](qpushbutton.html) *button1 = new [QPushButton](qpushbutton.html)("One");
         [QPushButton](qpushbutton.html) *button2 = new [QPushButton](qpushbutton.html)("Two");
         [QPushButton](qpushbutton.html) *button3 = new [QPushButton](qpushbutton.html)("Three");
         [QPushButton](qpushbutton.html) *button4 = new [QPushButton](qpushbutton.html)("Four");
         [QPushButton](qpushbutton.html) *button5 = new [QPushButton](qpushbutton.html)("Five");
    
         [QHBoxLayout](qhboxlayout.html) *layout = new [QHBoxLayout](qhboxlayout.html);
         layout->addWidget(button1);
         layout->addWidget(button2);
         layout->addWidget(button3);
         layout->addWidget(button4);
         layout->addWidget(button5);
    
         window->setLayout(layout);
         window->show();
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