H-ROS sensing components help robots perceive its environment and share the information with the rest of the parts through standardized H-ROS interfaces.

H-ROS acuation components are smart-actuators that support dynamic reconfiguration by subscribing and publishing to the corresponding H-ROS interfaces.

H-ROS communication parts are robot hardware components compliant with the H-ROS ecosystem specialized in communication. These parts could either expose new communication channels to the overall H-ROS network (e.g: through WiFi, 3G, Blueetooth, etc.) or provide means of interconnection between different H-ROS hardware parts.

The H-ROS hybrid parts aim to represent those robot components composed by different sub- elements that can’t be classified within the other H-ROS types. These hybrid parts are generally not fully understood in the other H-ROS types context or correspond with sub-robots (parts of other robots). The objective of the H-ROS hybrid layer is to provide a set of abstractions that enable these kind of devices to interoperate directly with the H-ROS environment by either complying with existing abstractions (e.g.: in the sub-robot scenarios) or by definining new interfaces to be used (e.g.: an LCD screen).