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