ros2_control Skill

Overview

Expert skill for configuring the ros2_control framework for hardware abstraction, controller management, and real-time robot control.

Capabilities

• Configure hardware interfaces (GPIO, system, actuator, sensor)
• Set up controller manager and controller lifecycle
• Implement position, velocity, and effort controllers
• Configure joint trajectory controller
• Set up diff_drive and ackermann controllers
• Implement custom hardware interfaces
• Configure transmission interfaces
• Set up joint limits and saturation
• Implement combined robot controllers
• Debug controller loading and activation

Target Processes

• robot-system-design.js
• mpc-controller-design.js
• moveit-manipulation-planning.js
• robot-bring-up.js

Dependencies

• ros2_control
• ros2_controllers
• hardware_interface

Usage Context

This skill is invoked when processes require hardware abstraction layer setup, controller configuration, or real-time control system integration.

Output Artifacts

• Hardware interface configurations
• Controller YAML parameters
• URDF ros2_control tags
• Custom hardware interface code
• Controller launch files
• Transmission configurations