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